diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 194ba64..2cdde66 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -37,7 +37,7 @@ jobs:
         robotology:
         - { yarp: yarp-3.8, cmake: 3.16.x }
         - { yarp: yarp-3.9, cmake: 3.16.x }
-        - { yarp: master, cmake: 3.16.x }
+        - { yarp: master, cmake: 3.19.x }
         compiler:
         - { cc: gcc, cxx: g++ }
         - { cc: clang, cxx: clang++ }
@@ -70,7 +70,7 @@ jobs:
         path: .deps/speech
 
     - name: Set up CMake
-      uses: jwlawson/actions-setup-cmake@v1
+      uses: jwlawson/actions-setup-cmake@v2
       with:
         cmake-version: ${{matrix.robotology.cmake}}