ci: setup github actions

[mds1]

Ideally the CI will run the benchmarks and save results somewhere. However, @alcuadrado has mentioned the performance of GH runners may fluctuate, though this may only occur between jobs and not within the same job. Before relying on CI to report the benchmarks, let's perform a series of benchmarks locally and within a single CI job and ensure the relative performance between tools is similar in the two