diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index f85e67dc1..55a8ac372 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -66,6 +66,8 @@ function configure()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
+      -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
+      -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 715f25733..532f917c1 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -24,6 +24,7 @@ jobs:
             ubuntu-gcc-deprecated,
             ubuntu-gcc-quaternions,
             ubuntu-gcc-tbb,
+            ubuntu-cayleymap,
           ]
 
         build_type: [Debug, Release]
@@ -47,6 +48,12 @@ jobs:
             version: "9"
             flag: tbb
 
+          - name: ubuntu-cayleymap
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+            flag: cayley
+
     steps:
       - name: Checkout
         uses: actions/checkout@master
@@ -109,6 +116,13 @@ jobs:
           echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
           echo "GTSAM Uses TBB"
 
+      - name: Use Cayley Transform for Rot3
+        if: matrix.flag == 'cayley'
+        run: |
+          echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV
+          echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV
+          echo "GTSAM Uses Cayley map for Rot3"
+
       - name: Build & Test
         run: |
           bash .github/scripts/unix.sh -t