diff --git a/.github/actions/docker-build-and-push-cuda/action.yaml b/.github/actions/docker-build-and-push-cuda/action.yaml
index 59f5ccc3569..f5d0a9c2591 100644
--- a/.github/actions/docker-build-and-push-cuda/action.yaml
+++ b/.github/actions/docker-build-and-push-cuda/action.yaml
@@ -15,6 +15,19 @@ inputs:
 runs:
   using: composite
   steps:
+    - name: Install jq and vcstool
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq python3-pip
+        pip install --no-cache-dir vcstool
+      shell: bash
+
+    - name: Run vcs import
+      run: |
+        mkdir src
+        vcs import src < autoware.repos
+      shell: bash
+
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
index 01d6be45f59..1286230150f 100644
--- a/.github/workflows/docker-build-and-push-arm64.yaml
+++ b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -38,7 +38,7 @@ jobs:
           files: |
             *.env
             *.repos
-            .github/actions/docker-build-and-push/action.yaml
+            .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push*.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
@@ -61,6 +61,44 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
+      - name: Show disk space
+        if: always()
+        run: |
+          df -h
+
+  docker-build-and-push-cuda:
+    needs: [load-env, docker-build-and-push]
+    runs-on: [self-hosted, linux, ARM64]
+    steps:
+      # https://github.com/actions/checkout/issues/211
+      - name: Change permission of workspace
+        run: |
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Free disk space
+        uses: ./.github/actions/free-disk-space
+
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v45
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push*/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index 232b78c6569..17513da21fa 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -33,7 +33,7 @@ jobs:
           files: |
             *.env
             *.repos
-            .github/actions/docker-build-and-push/action.yaml
+            .github/actions/docker-build-and-push*/action.yaml
             .github/workflows/docker-build-and-push*.yaml
             ansible-galaxy-requirements.yaml
             ansible/**
@@ -56,6 +56,39 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
 
+      - name: Show disk space
+        if: always()
+        run: |
+          df -h
+
+  docker-build-and-push-cuda:
+    needs: [load-env, docker-build-and-push]
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Free disk space
+        uses: ./.github/actions/free-disk-space
+
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v45
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push*/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware' with CUDA
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||