diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index 9a85ce14..0fb99905 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -13,7 +13,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
-          ref: main
+          ref: ""
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index f34d1c3b..5c79a78c 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -13,7 +13,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
-          ref: main
+          ref: ""
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/docker-build-and-push-humble-self-hosted.yaml b/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
index 6bb6b7c1..94450f31 100644
--- a/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-humble-self-hosted.yaml
@@ -32,7 +32,7 @@ jobs:
             cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
           fi
 
-      - name: Build 'autoware-universe'
+      - name: Build 'autoware-universe' without CUDA
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-universe
@@ -40,9 +40,22 @@ jobs:
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-nvidia
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -arm64
 
+      - name: Build 'autoware-universe' with CUDA
+        uses: ./.github/actions/docker-build-and-push
+        with:
+          bake-target: autoware-universe
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ env.rosdistro }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-cuda-drivers
+          tag-prefix: ${{ env.rosdistro }}-cuda-
+          tag-suffix: -arm64
+
       - name: Show disk space
         run: |
           df -h
diff --git a/.github/workflows/docker-build-and-push-humble.yaml b/.github/workflows/docker-build-and-push-humble.yaml
index 84301654..b35d872c 100644
--- a/.github/workflows/docker-build-and-push-humble.yaml
+++ b/.github/workflows/docker-build-and-push-humble.yaml
@@ -27,7 +27,7 @@ jobs:
             cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
           fi
 
-      - name: Build 'autoware-universe'
+      - name: Build 'autoware-universe' without CUDA
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-universe
@@ -35,9 +35,22 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-nvidia
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -amd64
 
+      - name: Build 'autoware-universe' with CUDA
+        uses: ./.github/actions/docker-build-and-push
+        with:
+          bake-target: autoware-universe
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ env.rosdistro }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-cuda-drivers
+          tag-prefix: ${{ env.rosdistro }}-cuda-
+          tag-suffix: -amd64
+
       - name: Show disk space
         run: |
           df -h
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 77b2a3c0..af658e6f 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -20,7 +20,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
-          ref: main
+          ref: ""
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
@@ -32,7 +32,7 @@ jobs:
             cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
           fi
 
-      - name: Build 'autoware-universe'
+      - name: Build 'autoware-universe' without CUDA
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-universe
@@ -40,9 +40,22 @@ jobs:
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-nvidia
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -arm64
 
+      - name: Build 'autoware-universe' with CUDA
+        uses: ./.github/actions/docker-build-and-push
+        with:
+          bake-target: autoware-universe
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ env.rosdistro }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-cuda-drivers
+          tag-prefix: ${{ env.rosdistro }}-cuda-
+          tag-suffix: -arm64
+
       - name: Show disk space
         run: |
           df -h
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 372f4290..fc7942a2 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -15,7 +15,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
-          ref: main
+          ref: ""
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
@@ -27,7 +27,7 @@ jobs:
             cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
           fi
 
-      - name: Build 'autoware-universe'
+      - name: Build 'autoware-universe' without CUDA
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-universe
@@ -35,9 +35,22 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-nvidia
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: -amd64
 
+      - name: Build 'autoware-universe' with CUDA
+        uses: ./.github/actions/docker-build-and-push
+        with:
+          bake-target: autoware-universe
+          build-args: |
+            *.platform=linux/amd64
+            *.args.ROS_DISTRO=${{ env.rosdistro }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
+            *.args.SETUP_ARGS=--no-cuda-drivers
+          tag-prefix: ${{ env.rosdistro }}-cuda-
+          tag-suffix: -amd64
+
       - name: Show disk space
         run: |
           df -h
diff --git a/docker/autoware-universe/Dockerfile b/docker/autoware-universe/Dockerfile
index d1a13f49..0dbdbd72 100644
--- a/docker/autoware-universe/Dockerfile
+++ b/docker/autoware-universe/Dockerfile
@@ -4,6 +4,7 @@ FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 ARG ROS_DISTRO
+ARG SETUP_ARGS
 
 ## Install apt packages
 # hadolint ignore=DL3008
@@ -25,7 +26,7 @@ RUN mkdir -p ~/.ssh \
 
 ## Set up development environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --no-cuda-drivers universe \
+  ./setup-dev-env.sh -y $SETUP_ARGS universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
diff --git a/docker/build.sh b/docker/build.sh
index b525cf34..d6106db9 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -31,5 +31,6 @@ docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/autoware-universe/doc
     --set "*.platform=$platform" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$base_image" \
+    --set "*.args.SETUP_ARGS=--no-cuda-drivers" \
     --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt"