diff --git a/backend/Dockerfile.golang b/backend/Dockerfile.golang
index dbfee61e2..50213bb95 100644
--- a/backend/Dockerfile.golang
+++ b/backend/Dockerfile.golang
@@ -13,6 +13,7 @@ ENV DEBIAN_FRONTEND=noninteractive
 ARG TARGETARCH
 ARG TARGETVARIANT
 ARG GO_VERSION=1.22.6
+ARG UBUNTU_VERSION=2204
 
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
@@ -32,6 +33,7 @@ ENV PATH=/usr/local/cuda/bin:${PATH}
 # HipBLAS requirements
 ENV PATH=/opt/rocm/bin:${PATH}
 
+
 # Vulkan requirements
 RUN <<EOT bash
     if [ "${BUILD_TYPE}" = "vulkan" ] && [ "${SKIP_DRIVERS}" = "false" ]; then
@@ -50,15 +52,19 @@ EOT
 
 # CuBLAS requirements
 RUN <<EOT bash
-    if [ "${BUILD_TYPE}" = "cublas" ] && [ "${SKIP_DRIVERS}" = "false" ]; then
+    if ( [ "${BUILD_TYPE}" = "cublas" ] || [ "${BUILD_TYPE}" = "l4t" ] ) && [ "${SKIP_DRIVERS}" = "false" ]; then
         apt-get update && \
         apt-get install -y  --no-install-recommends \
             software-properties-common pciutils
         if [ "amd64" = "$TARGETARCH" ]; then
-            curl -O https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
+            curl -O https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/x86_64/cuda-keyring_1.1-1_all.deb
         fi
         if [ "arm64" = "$TARGETARCH" ]; then
-            curl -O https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64/cuda-keyring_1.1-1_all.deb
+            if [ "${CUDA_MAJOR_VERSION}" = "13" ]; then
+                curl -O https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/sbsa/cuda-keyring_1.1-1_all.deb
+            else
+                curl -O https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/arm64/cuda-keyring_1.1-1_all.deb
+            fi
         fi
         dpkg -i cuda-keyring_1.1-1_all.deb && \
         rm -f cuda-keyring_1.1-1_all.deb && \
@@ -69,12 +75,31 @@ RUN <<EOT bash
             libcurand-dev-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} \
             libcublas-dev-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} \
             libcusparse-dev-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} \
-            libcusolver-dev-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} && \
+            libcusolver-dev-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION}
+        if [ "${CUDA_MAJOR_VERSION}" = "13" ] && [ "arm64" = "$TARGETARCH" ]; then
+            apt-get install -y --no-install-recommends \
+            libcufile-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} libcudnn9-cuda-${CUDA_MAJOR_VERSION} cuda-cupti-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION} libnvjitlink-${CUDA_MAJOR_VERSION}-${CUDA_MINOR_VERSION}
+        fi
         apt-get clean && \
         rm -rf /var/lib/apt/lists/*
     fi
 EOT
 
+
+# https://github.com/NVIDIA/Isaac-GR00T/issues/343
+RUN <<EOT bash
+    if [ "${BUILD_TYPE}" = "cublas" ] && [ "${TARGETARCH}" = "arm64" ]; then
+        wget https://developer.download.nvidia.com/compute/cudss/0.6.0/local_installers/cudss-local-tegra-repo-ubuntu${UBUNTU_VERSION}-0.6.0_0.6.0-1_arm64.deb && \
+        dpkg -i cudss-local-tegra-repo-ubuntu${UBUNTU_VERSION}-0.6.0_0.6.0-1_arm64.deb && \
+        cp /var/cudss-local-tegra-repo-ubuntu${UBUNTU_VERSION}-0.6.0/cudss-*-keyring.gpg /usr/share/keyrings/ && \
+        apt-get update && apt-get -y install cudss cudss-cuda-${CUDA_MAJOR_VERSION} && \
+        wget https://developer.download.nvidia.com/compute/nvpl/25.5/local_installers/nvpl-local-repo-ubuntu${UBUNTU_VERSION}-25.5_1.0-1_arm64.deb && \
+        dpkg -i nvpl-local-repo-ubuntu${UBUNTU_VERSION}-25.5_1.0-1_arm64.deb && \
+        cp /var/nvpl-local-repo-ubuntu${UBUNTU_VERSION}-25.5/nvpl-*-keyring.gpg /usr/share/keyrings/ && \
+        apt-get update && apt-get install -y nvpl
+    fi
+EOT
+
 # If we are building with clblas support, we need the libraries for the builds
 RUN if [ "${BUILD_TYPE}" = "clblas" ] && [ "${SKIP_DRIVERS}" = "false" ]; then \
         apt-get update && \
diff --git a/backend/Dockerfile.python b/backend/Dockerfile.python
index 0a9a22e66..2faddea31 100644
--- a/backend/Dockerfile.python
+++ b/backend/Dockerfile.python
@@ -146,7 +146,14 @@ ENV PATH="/root/.cargo/bin:${PATH}"
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
 
 # Install grpcio-tools (the version in 22.04 is too old)
-RUN pip install --user grpcio-tools==1.71.0 grpcio==1.71.0
+RUN <<EOT bash
+    if [ "${UBUNTU_VERSION}" = "2404" ]; then
+        pip install --break-system-packages --user grpcio-tools==1.71.0 grpcio==1.71.0
+    else
+        pip install grpcio-tools==1.71.0 grpcio==1.71.0
+    fi
+EOT
+
 
 COPY python/${BACKEND} /${BACKEND}
 COPY backend.proto /${BACKEND}/backend.proto