A continuously variable transmission having a variator (5) comprising input discs (2) coupled to an input shaft (12) and an output disc (3) providing a rotary variator output. The input and output discs are mounted for rotation about a common axis and at last one roller (4) is arranged between the discs to transfer drive from one to the other at a continuously variable variator drive ratio. The roller is mounted in a carrier (30) in a manner which permits it to spin about its own axis and to tilt relative to the disks to vary the variator drive ratio. A hydraulic actuator (22) is arranged to apply to the carrier (30) a reaction force determined by a hydraulic pressure difference acting on the actuator. The reaction force opposes a traction force applied to the roller (4) by the action of the discs (2, 3). Power-recirculation gearing (6), preferably in the form of planetary gearing, receives as inputs the rotation of the input shaft (12) and the rotary variator output, and produces an output speed which is a function of both its inputs.