diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
index b15bb62..68cabe4 100644
--- a/.github/workflows/docker-build.yaml
+++ b/.github/workflows/docker-build.yaml
@@ -4,7 +4,7 @@ name: docker-build
 # Only build base when any of the files in the base directory are modified
 on:
   push:
-    branches: [master, build_jetson]
+    branches: [master, two_x86]
     tags:
       - '*'
   workflow_dispatch:
@@ -20,9 +20,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
+        bare_or_nvda: [nvda, bare]
         platform:
           - linux/amd64
           - linux/arm64
+        exclude:
+          - platform: linux/arm64
+            bare_or_nvda: bare
 
     steps:
       -
@@ -30,11 +34,13 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: true
+
       -
         name: Prepare
         run: |
           platform=${{ matrix.platform }}
-          echo "PLATFORM_PAIR=${platform//\//-}" >> $GITHUB_ENV
+          bare_or_nvda=${{ matrix.bare_or_nvda }}
+          echo "PLATFORM_PAIR=${platform//\//-}-${bare_or_nvda}" >> $GITHUB_ENV
       -
         name: Checkout
         uses: actions/checkout@v4
@@ -42,22 +48,35 @@ jobs:
         name: Set platform-specific build-args
         id: set_build_args
         run: |
-          export $(cat build.bash | grep UPSTREAM_X86_64 | sed 's/^export //')
-          export $(cat build.bash | grep UPSTREAM_AARCH64 | sed 's/^export //')
+          # Read the upstream images from build.bash
+          export $(cat build.bash | grep UPSTREAM_X86_64_NVDA | sed 's/^export //')
+          export $(cat build.bash | grep UPSTREAM_ARM64_NVDA | sed 's/^export //')
+          export $(cat build.bash | grep UPSTREAM_X86_64_BARE | sed 's/^export //')
+          export $(cat build.bash | grep UPSTREAM_ARM64_BARE | sed 's/^export //')
           if [ "${{ matrix.platform }}" = "linux/amd64" ]; then
-            echo "upstream_image=$UPSTREAM_X86_64" >> $GITHUB_ENV
+            if [ "${{ matrix.bare_or_nvda }}" = "bare" ]; then
+              echo "upstream_image=$UPSTREAM_X86_64_BARE" >> $GITHUB_ENV
+            else
+              echo "upstream_image=$UPSTREAM_X86_64_NVDA" >> $GITHUB_ENV
+            fi
           elif [ "${{ matrix.platform }}" = "linux/arm64" ]; then
-            echo "upstream_image=$UPSTREAM_AARCH64" >> $GITHUB_ENV
+            if [ "${{ matrix.bare_or_nvda }}" = "bare" ]; then
+              echo "upstream_image=$UPSTREAM_ARM64_BARE" >> $GITHUB_ENV
+            else
+              echo "upstream_image=$UPSTREAM_ARM64_NVDA" >> $GITHUB_ENV
+            fi
           else
             echo "Architecture not supported"
             exit 1
           fi
+          echo "Architecture: ${{ matrix.platform }}"
+          echo "Bare or nvda option: ${{ matrix.bare_or_nvda }}"
       -
         name: Docker meta
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ${{ env.REGISTRY_IMAGE }}
+          images: ${{ env.REGISTRY_IMAGE }}-${{ matrix.bare_or_nvda }}
       -
         name: Set up QEMU
         uses: docker/setup-qemu-action@v3
@@ -78,8 +97,11 @@ jobs:
           context: "{{defaultContext}}:dcist-master"
           platforms: ${{ matrix.platform }}
           labels: ${{ steps.meta.outputs.labels }}
-          build-args: upstream_image=${{ env.upstream_image }}
-          outputs: type=image,name=${{ env.REGISTRY_IMAGE }},push-by-digest=true,name-canonical=true,push=true
+          build-args: |
+            ARCHITECTURE=${{ matrix.platform }}
+            UPSTREAM_IMAGE=${{ env.upstream_image }}
+            BARE_OR_NVDA=${{ matrix.bare_or_nvda }}
+          outputs: type=image,name=${{ env.REGISTRY_IMAGE }}-${{ matrix.bare_or_nvda }},push-by-digest=true,name-canonical=true,push=true
       -
         name: Export digest
         run: |
@@ -94,8 +116,16 @@ jobs:
           path: /tmp/digests/*
           if-no-files-found: error
           retention-days: 1
+      -
+        name: display files
+        run: |
+          ls /tmp/digests
   merge:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        bare_or_nvda: [nvda, bare]
     needs:
       - build
     steps:
@@ -104,8 +134,12 @@ jobs:
         uses: actions/download-artifact@v4
         with:
           path: /tmp/digests
-          pattern: digests-*
+          pattern: digests-*-${{ matrix.bare_or_nvda }}
           merge-multiple: true
+      -
+        name: display files
+        run: |
+          ls /tmp/digests
       -
         name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
@@ -114,7 +148,7 @@ jobs:
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ${{ env.REGISTRY_IMAGE }}
+          images: ${{ env.REGISTRY_IMAGE }}-${{ matrix.bare_or_nvda }}
       -
         name: Login to Docker Hub
         uses: docker/login-action@v3
@@ -126,8 +160,8 @@ jobs:
         working-directory: /tmp/digests
         run: |
           docker buildx imagetools create $(jq -cr '.tags | map("-t " + .) | join(" ")' <<< "$DOCKER_METADATA_OUTPUT_JSON") \
-            $(printf '${{ env.REGISTRY_IMAGE }}@sha256:%s ' *)
+            $(printf '${{ env.REGISTRY_IMAGE }}-${{ matrix.bare_or_nvda }}@sha256:%s ' *)
       -
         name: Inspect image
         run: |
-          docker buildx imagetools inspect ${{ env.REGISTRY_IMAGE }}:${{ steps.meta.outputs.version }}
+          docker buildx imagetools inspect ${{ env.REGISTRY_IMAGE }}-${{ matrix.bare_or_nvda }}:${{ steps.meta.outputs.version }}
diff --git a/build.bash b/build.bash
index 2544f1d..38f0819 100755
--- a/build.bash
+++ b/build.bash
@@ -20,16 +20,19 @@
 
 set -eo pipefail
 
-# Upstream images for x86_64 and aarch64
-# For x86_64, use the CUDA 11.4.3 image
-# For aarch64, use the L4T PyTorch image
+# Upstream images for x86_64 and arm64, for both Nvidia and non-Nvidia
+# For x86_64 and arm64 non-Nvidia, use the Ubuntu 20.04 image
+# For x86_64 Nvidia, use the CUDA 11.4.3 image
+# For arm64 Nvidia, use the L4T PyTorch image
 # Important: do not modify the variable name as it is used by the Github action
 # to build the image
-UPSTREAM_X86_64=nvcr.io/nvidia/cuda:11.4.3-devel-ubuntu20.04
-UPSTREAM_AARCH64=nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3
+UPSTREAM_X86_64_NVDA=nvcr.io/nvidia/cuda:11.4.3-devel-ubuntu20.04
+UPSTREAM_ARM64_NVDA=nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3
+UPSTREAM_X86_64_BARE=ubuntu:20.04
+UPSTREAM_ARM64_BARE=ubuntu:20.04
 
 # Check that the current user has UID 1000.
-if [ $(id -u) -ne 1000 ]
+if [ "$(id -u)" -ne 1000 ]
 then
   echo "ERROR: This script must be run with UID and GID of 1000."
   echo "       Current UID: $(id -u), current GID: $(id -g)"
@@ -43,36 +46,51 @@ then
 elif [ $# -eq 1 ]
 then
   # No image type is provided, build x86 by default
-  upstream=$UPSTREAM_X86_64
+  echo "Building x86_64 image by default"
+  upstream=$UPSTREAM_X86_64_BARE
   architecture="x86_64"
+  bare_or_nvda="bare"
 elif [ $# -eq 2 ]
 then
-  # The second argument should be x86_64 or aarch64
+  # The second argument should be x86_64_nvda arm64_nvda or x86_64
   if [ "$2" = "x86_64" ]
   then
-    upstream=$UPSTREAM_X86_64
-  elif [ "$2" = "aarch64" ]
+    upstream=$UPSTREAM_X86_64_BARE
+    bare_or_nvda="bare"
+    architecture="x86_64"
+  elif [ "$2" = "x86_64_nvda" ]
   then
-    upstream=$UPSTREAM_AARCH64
+    upstream=$UPSTREAM_X86_64_NVDA
+    bare_or_nvda="nvda"
+    architecture="x86_64"
+  elif [ "$2" = "arm64" ]
+  then
+    echo "Architecture not supported"
+    exit 1
+  elif [ "$2" = "arm64_nvda" ]
+  then
+    upstream=$UPSTREAM_ARM64_NVDA
+    bare_or_nvda="nvda"
+    achitecture="amd64"
   else
-    echo "Usage: $0 directory-name [x86_64|aarch64]"
+    echo "Usage: $0 directory-name [x86_64|x86_64_nvda|arm64_nvda]"
     exit 1
   fi
-  architecture=$2
 else
-  echo "Usage: $0 directory-name [x86_64|aarch64]"
+  echo "Usage: $0 directory-name [x86_64|x86_64_nvda|arm64_nvda]"
   exit 1
 fi
 
 # Create the image name and tag
 user_id=$(id -u)
-image_name=$(basename "$1")
+image_name="$(basename "$1")-$bare_or_nvda"
 revision=$(git describe --tags --long)
 image_plus_tag=kumarrobotics/$image_name:$revision
 
 # Print image name in purple
 echo -e "\033[0;35mBuilding $image_plus_tag"
 echo -e "Architecture: $architecture"
+echo -e "Bare or NVDA: $bare_or_nvda"
 echo -e "Upstream image: $upstream\n\033[0m"
 
 # get path to current directory
@@ -87,8 +105,10 @@ fi
 # Build the image
 docker build --rm -t $image_plus_tag \
   --build-arg user_id=$user_id \
-  --build-arg upstream_image=$upstream \
-  -f $DIR/$image_name/Dockerfile .
+  --build-arg UPSTREAM_IMAGE=$upstream \
+  --build-arg ARCHITECTURE=$architecture \
+  --build-arg BARE_OR_NVDA=$bare_or_nvda \
+  -f $DIR/$1/Dockerfile .
 echo "Built $image_plus_tag and tagged as $image_name:latest"
 
 # Create "latest" tag
diff --git a/dcist-master/Dockerfile b/dcist-master/Dockerfile
index 6d865c8..d7a3b96 100644
--- a/dcist-master/Dockerfile
+++ b/dcist-master/Dockerfile
@@ -1,7 +1,9 @@
 # The upstream image depends on the architecture, and it is defined when
 # building the image. Please see build.bash for more details
-ARG upstream_image
-FROM $upstream_image
+ARG UPSTREAM_IMAGE
+FROM $UPSTREAM_IMAGE
+ARG ARCHITECTURE
+ARG BARE_OR_NVDA
 
 #Run the frontend first so it doesn't throw an error later
 RUN apt-get update \
@@ -108,8 +110,20 @@ RUN sudo apt-get install -y \
 # Install geographiclib_datasets required by mavros
 RUN cd /opt/ros/noetic/lib/mavros/ && sudo ./install_geographiclib_datasets.sh
 
-# Install pytorch only if it is not installed (avoid re-installing in Jetson)
-RUN sudo sh -c 'pip3 freeze | grep torch || pip3 install torch==1.8.2+cu111 torchvision==0.9.2+cu111 torchaudio==0.8.2 -f https://download.pytorch.org/whl/lts/1.8/torch_lts.html'
+# Install pytorch for the appropriate architecture
+RUN if [ "$BARE_OR_NVDA" = "nvda" ] ; then \
+  if [ "$ARCHITECTURE" = "linux/amd64" ] ; then \
+    echo "nvda - x86_64"; sudo pip3 install torch==1.8.2 torchvision==0.9.2 torchaudio==0.8.2 --extra-index-url https://download.pytorch.org/whl/lts/1.8/cu111 ; \
+  else \
+    echo "nvda - arm64" ; echo "Skipping pytorch installation for Jetson"; \
+  fi; \
+else \
+  if [ "$ARCHITECTURE" = "linux/amd64" ] ; then \
+    echo "bare - x86_64"; sudo pip3 install torch==1.8.2 torchvision==0.9.2 torchaudio==0.8.2 --extra-index-url https://download.pytorch.org/whl/lts/1.8/cpu ; \
+  else \
+    echo "Architecture not supported"; exit 1; \
+  fi; \
+fi;
 
 # Install dependencies for MOCHA
 RUN sudo sh -c 'pip3 install zmq rospkg defusedxml utm'