diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index aef10dcd..1af39614 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -40,47 +40,47 @@ jobs:
         run: |
           sudo apt update
           sudo apt install -y libeigen3-dev
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Display config
         run: |
           echo "OS:" && $RUNNER_OS && echo ""
           echo "Compiler:" && $CC && $CXX && echo ""
           echo "Eigen:" && apt-cache policy libeigen3-dev | grep Installed
       - name: Configure
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
 
   build-mac:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [macos-12, macos-13, macos-14]
+        os: [macos-13, macos-14, macos-15]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
       - name: Setup
         run: |
           brew install eigen
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Display config
         run: |
           echo "OS:" && $RUNNER_OS && echo ""
           echo "Compiler:" && clang -v && echo ""
           echo "Eigen:" && brew info eigen
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
 
   build-win:
@@ -102,7 +102,7 @@ jobs:
       - name: Setup
         run: |
           vcpkg install eigen3:x64-windows
-          cd ${{runner.workspace}}
+          cd ${{ runner.workspace }}
           mkdir build
       - name: Display config
         shell: bash
@@ -111,13 +111,13 @@ jobs:
           echo "Eigen:" && vcpkg list
       - name: Configure CMake
         shell: bash
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -G"${{ matrix.combinations.cmake_generator }}" -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake --build . --config Release
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: ctest . -C Release
 
   cppcheck:
@@ -130,15 +130,15 @@ jobs:
           sudo apt update
           sudo apt install -y libunwind-dev
           sudo apt install -y libceres-dev cppcheck
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DENABLE_CPPCHECK=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make run-cppcheck
 
   valgrind:
@@ -152,15 +152,15 @@ jobs:
           sudo apt update
           sudo apt install -y libunwind-dev
           sudo apt install -y libceres-dev valgrind
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DENABLE_VALGRIND=ON -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: ctest -T memcheck
 
   codecov:
@@ -174,18 +174,18 @@ jobs:
           sudo apt update
           sudo apt install -y libunwind-dev
           sudo apt install -y libceres-dev
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DENABLE_COVERAGE=ON -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
       - name: Upload coverage
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: bash <(curl -s https://codecov.io/bash) -R $GITHUB_WORKSPACE
 
   ceres:
@@ -205,15 +205,15 @@ jobs:
           sudo apt update
           sudo apt install -y libunwind-dev
           sudo apt install -y libceres-dev
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
 
   autodiff:
@@ -226,31 +226,31 @@ jobs:
         run: |
           sudo apt update
           sudo apt install -y libeigen3-dev
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       # Install autodiff
       - name: Checkout autodiff
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: autodiff/autodiff
           ref: main
           path: 'autodiff'
       - name: Setup autodiff
-        run: mkdir ${{runner.workspace}}/build_autodiff
+        run: mkdir ${{ runner.workspace }}/build_autodiff
       - name: Configure CMake autodiff
-        working-directory: ${{runner.workspace}}/build_autodiff
+        working-directory: ${{ runner.workspace }}/build_autodiff
         run: cmake $GITHUB_WORKSPACE/autodiff -DAUTODIFF_BUILD_TESTS=OFF -DAUTODIFF_BUILD_PYTHON=OFF -DAUTODIFF_BUILD_EXAMPLES=OFF -DAUTODIFF_BUILD_DOCS=OFF
       - name: Install autodiff
-        working-directory: ${{runner.workspace}}/build_autodiff
+        working-directory: ${{ runner.workspace }}/build_autodiff
         run: sudo cmake --build . --target install
       # Build/test manif autodiff
       - name: Configure CMake
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DBUILD_TESTING=ON
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
 
   pybind11-pip:
@@ -290,7 +290,7 @@ jobs:
     needs: [build-ubuntu, build-mac]
     strategy:
       matrix:
-        platform: [ubuntu-20.04, ubuntu-22.04, ubuntu-latest]
+        platform: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
     runs-on: ${{ matrix.platform }}
     steps:
       - name: Checkout
@@ -304,18 +304,18 @@ jobs:
         run: |
           sudo apt update
           sudo apt install -y libeigen3-dev pybind11-dev python3-pytest python3-numpy
-          mkdir ${{runner.workspace}}/build
+          mkdir ${{ runner.workspace }}/build
       - name: Configure
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: cmake $GITHUB_WORKSPACE -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=ON -DBUILD_PYTHON_BINDINGS=ON -DCMAKE_BUILD_TYPE=Release
       - name: Build
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make -j2
       - name: Test
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: make test
       - name: Install
-        working-directory: ${{runner.workspace}}/build
+        working-directory: ${{ runner.workspace }}/build
         run: sudo make install
       - name: Test Import
         run: python3 -c 'import manifpy'
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 0febc476..cabc66de 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -18,7 +18,7 @@ jobs:
       # Build manifpy
 
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Set up Python
         uses: actions/setup-python@v2
         with:
@@ -39,7 +39,7 @@ jobs:
   #   needs: [pybind11]
   #   steps:
   #     - name: Checkout
-  #       uses: actions/checkout@v2
+  #       uses: actions/checkout@v4
   #     - name: Set up Python
   #       uses: actions/setup-python@v2
 
@@ -60,35 +60,35 @@ jobs:
       - name: Fetch Python deps
         run: python -m pip install jinja2 Pygments docutils
       - name: Fetch m.css
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           repository: mosra/m.css
           path: docs/m.css
 
       - name: Build Python docs
-        working-directory: ${{runner.workspace}}/manif/docs
+        working-directory: ${{ runner.workspace }}/manif/docs
         run: python m.css/documentation/python.py conf_python.py
       - name: Build C++ docs
-        working-directory: ${{runner.workspace}}/manif/docs
+        working-directory: ${{ runner.workspace }}/manif/docs
         run: |
           mkdir -p site/cpp
           python m.css/documentation/doxygen.py conf_cpp.py
       - name: Build site
-        working-directory: ${{runner.workspace}}/manif/docs
+        working-directory: ${{ runner.workspace }}/manif/docs
         run: python m.css/documentation/doxygen.py conf.py
 
       - name: Latex equation white color
-        working-directory: ${{runner.workspace}}/manif/docs
+        working-directory: ${{ runner.workspace }}/manif/docs
         run: ./fix_latex_color.sh
 
       - name: Archive artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: site
           path: docs/site
 
   deploy:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     needs: [build]
     # todo: deploy if new tag/release
     if: |
@@ -96,13 +96,12 @@ jobs:
       github.event_name == 'push' && github.ref == 'refs/heads/devel'
     steps:
       - name: Download artifacts
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v4
         with:
           name: site
           path: site
       - name: Deploy
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+        uses: JamesIves/github-pages-deploy-action@v4
         with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          BRANCH: gh-pages
-          FOLDER: site
+          branch: gh-pages
+          folder: site
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index c6c4ea1a..3bf3f1b8 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -15,13 +15,13 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - run: git fetch --prune --unshallow
 
       - name: Install Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.7
+          python-version: 3.12
 
       - name: Setup apt
         run: |
@@ -40,7 +40,7 @@ jobs:
         run: python3 -m build --wheel -o dist/
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: dist
           path: dist/*
@@ -53,7 +53,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
 
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v4
         with:
           name: dist
           path: dist
diff --git a/examples/bundle_sam.cpp b/examples/bundle_sam.cpp
index 06c63d41..8c0d43a7 100644
--- a/examples/bundle_sam.cpp
+++ b/examples/bundle_sam.cpp
@@ -335,7 +335,6 @@ int main()
         add_beacon_factor<2, 2>(X, measurements[2][2], S, r.segment<Dim>(row), J.block<Dim, BundleT::DoF>(row, 0));
         row += Dim;
         add_beacon_factor<2, 4>(X, measurements[2][4], S, r.segment<Dim>(row), J.block<Dim, BundleT::DoF>(row, 0));
-        row += Dim;
 
         // 4. Solve -----------------------------------------------------------------
 
diff --git a/examples/se2_localization_ukfm.cpp b/examples/se2_localization_ukfm.cpp
index 87d856f9..1e78133a 100644
--- a/examples/se2_localization_ukfm.cpp
+++ b/examples/se2_localization_ukfm.cpp
@@ -142,10 +142,10 @@ struct Weights
     w0 = m / (ml) + Scalar(3) - alpha * alpha;
   }
 
-  Scalar sqrt_d_lambda;
-  Scalar wj;
-  Scalar wm;
-  Scalar w0;
+  Scalar sqrt_d_lambda = Scalar(0);
+  Scalar wj = Scalar(0);
+  Scalar wm = Scalar(0);
+  Scalar w0 = Scalar(0);
 };
 
 using Weightsd = Weights<double>;