Add github actions ci pipeline

[mwang2016]

Proposed changes

Describe the big picture of your changes here to communicate to the maintainers why we should accept this pull request. If it fixes a bug or resolves a feature request, be sure to link to that issue.

Types of changes

What types of changes does your code introduce?
Put an x in the boxes that apply

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist

Put an x in the boxes that apply.

• I have read the CONTRIBUTING doc
• I have read the CLA
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• Any dependent changes have been merged and published in downstream modules