diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index c1507db44af53554c7d5f66ff9e8f0f375eec34c..9c1e735b5b0ddb52b3eb7bdace59467b2e74c59f 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -36,10 +36,12 @@ robotpkg-py-eigenpy-18.04-release:
 robotpkg-py-eigenpy-py3-dubnium-release:
   <<: *robotpkg-py-eigenpy
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:dubnium
+  allow_failure: true
 
 robotpkg-py-eigenpy-py3-16.04-release:
   <<: *robotpkg-py-eigenpy
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:16.04
+  allow_failure: true
 
 robotpkg-py-eigenpy-py3-18.04-release:
   <<: *robotpkg-py-eigenpy
@@ -58,12 +60,14 @@ robotpkg-py-eigenpy-14.04-debug:
 robotpkg-py-eigenpy-py3-14.04-release:
   <<: *robotpkg-py-eigenpy
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:14.04
+  allow_failure: true
 
 robotpkg-py-eigenpy-py3-14.04-debug:
   <<: *robotpkg-py-eigenpy
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:14.04
   before_script:
     - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
+  allow_failure: true
 
 robotpkg-py-eigenpy-dubnium-debug:
   <<: *robotpkg-py-eigenpy
@@ -76,6 +80,7 @@ robotpkg-py-eigenpy-py3-dubnium-debug:
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:dubnium
   before_script:
     - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
+  allow_failure: true
 
 robotpkg-py-eigenpy-16.04-debug:
   <<: *robotpkg-py-eigenpy
@@ -88,6 +93,7 @@ robotpkg-py-eigenpy-py3-16.04-debug:
   image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:16.04
   before_script:
     - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
+  allow_failure: true
 
 robotpkg-py-eigenpy-18.04-debug:
   <<: *robotpkg-py-eigenpy
diff --git a/.travis.yml b/.travis.yml
index 980135067791b472bb2f28208c88742b6be14746..07a39b25802d8fe49476840c632d87104ca2fbed 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,9 +1,9 @@
 language: python
 python:
   - "2.7"
-  - "3.4"
+  - "3.6"
 sudo: required
-dist: trusty
+dist: bionic
 compiler:
   - gcc
 # - clang