diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
index 686e9d5..4a23cc8 100644
--- a/.github/workflows/conda-ci.yml
+++ b/.github/workflows/conda-ci.yml
@@ -16,14 +16,13 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-20.04, macos-latest, windows-2019]
+        os: [ubuntu-24.04, macos-latest, windows-2019]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: conda-incubator/setup-miniconda@v3
       with:
-        miniforge-variant: Mambaforge
         miniforge-version: latest
         channels: conda-forge
 
@@ -39,12 +38,12 @@ jobs:
     - name: Install files to enable compilation of mex files [Conda/macOS]
       if: contains(matrix.os, 'macos') 
       run: |
-        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
-        unzip msdk_R2020a_mexmaci64.zip
-        rm msdk_R2020a_mexmaci64.zip
-        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
-        echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV
-        
+        curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2023b_mexmaca64.zip
+        unzip msdk_R2023b_mexmaca64.zip
+        rm msdk_R2023b_mexmaca64.zip
+        echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2023b_mexmaca64" >> $GITHUB_ENV
+        echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV
+
     - name: Install files to enable compilation of mex files [Conda/Windows]
       if: contains(matrix.os, 'windows') 
       shell: bash
@@ -61,9 +60,9 @@ jobs:
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Compilation related dependencies 
-        mamba install cmake compilers make ninja pkg-config
+        conda  install cmake compilers make ninja pkg-config
         # YARP dependencies 
-        mamba install ace eigen ycm-cmake-modules
+        conda install ace eigen ycm-cmake-modules
         # Uncomment when we are compatible with releases in conda yarp
         # mamba install yarp