diff --git a/.github/workflows/docker-arm.yml b/.github/workflows/docker-arm.yml
new file mode 100644
index 00000000..80a371a3
--- /dev/null
+++ b/.github/workflows/docker-arm.yml
@@ -0,0 +1,83 @@
+name: Push ARM Docker Image
+
+on:
+  push:
+    branches:
+      - main 
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  TAG: "arm"
+  DOCKERFILE_PATH: 'docker/Dockerfile.arm'
+
+jobs:
+  changes:
+    runs-on: ubuntu-latest
+    outputs:
+      dockerfile: ${{ steps.changes.outputs.dockerfile }}
+    steps:
+    - uses: actions/checkout@v3
+    - uses: dorny/paths-filter@v2
+      id: changes
+      with:
+        filters: |
+          dockerfile:
+            - ${{ env.DOCKERFILE_PATH }}
+
+  build-and-push-image:
+    needs: changes
+    if: ${{ needs.changes.outputs.dockerfile == 'true' }}
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          # this might remove tools that are actually needed,
+          # if set to "true" but frees about 6 GB
+          tool-cache: true
+          
+          # all of these default to true, but feel free to set to
+          # "false" if necessary for your workflow
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: true
+          swap-storage: true
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+    
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.TAG }} 
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
+        with:
+          platforms: linux/arm64
+          file: ${{ env.DOCKERFILE_PATH }} 
+          context: .
+          push: true
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ env.TAG }} 
+          labels: ${{ steps.meta.outputs.labels }}
+
diff --git a/docker/Dockerfile.arm b/docker/Dockerfile.arm
index 55229a0a..8b278a25 100644
--- a/docker/Dockerfile.arm
+++ b/docker/Dockerfile.arm
@@ -1,4 +1,4 @@
-FROM arm64/ubuntu:22.04
+FROM arm64v8/ubuntu:22.04
 
 ARG USERNAME=tuas USER_UID=1000 USER_GID=1000 DEBIAN_FRONTEND=noninteractive
 
@@ -46,11 +46,14 @@ RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
                            # needed for matplotplus
                            gnuplot \ 
                            # imagemagick with c++ dependency
-                           graphicsmagick-libmagick-dev-compat 
+                           libmagick++-dev \
+                           # needed for pytorch 
+                           libopenblas-dev \
+                           ninja-build \
+                           libnuma-dev
 
 RUN apt-add-repository universe
 RUN apt-get install -y cpplint
-
 # Update Python to 3.11 so that libtorch can be properly built from source
 ENV PYENV_ROOT="/.pyenv"
 RUN curl https://pyenv.run | bash
@@ -58,7 +61,7 @@ ENV PATH="${PATH}:${PYENV_ROOT}/bin"
 RUN eval "$(pyenv init -)"
 RUN pyenv install 3.11
 RUN pyenv global 3.11
-RUN pip3 install typing-extensions PyYAML
+RUN pip3 install typing-extensions PyYAML cpplint numpy
 
 RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME
@@ -68,7 +71,7 @@ RUN --mount=target=/var/lib/apt/lists,type=cache,sharing=locked \
     --mount=target=/var/cache/apt,type=cache,sharing=locked \
     rm -f /etc/apt/apt.conf.d/docker-clean \ 
     && apt-get update \
-    && wget https://github.com/Kitware/CMake/releases/download/v3.27.7/cmake-3.27.7-linux-x86_64.sh \
+    && wget https://github.com/Kitware/CMake/releases/download/v3.27.7/cmake-3.27.7-linux-aarch64.sh \
       -q -O /tmp/cmake-install.sh \
       && chmod u+x /tmp/cmake-install.sh \
       && mkdir /opt/cmake-3.24.1 \
@@ -81,26 +84,61 @@ RUN git clone --depth 1 https://github.com/mavlink/MAVSDK.git --branch v2.9.1 --
     && cd MAVSDK \
     && git submodule update --init --recursive \
     && cmake -DCMAKE_BUILD_TYPE=Release -Bbuild/default -H. \
-    && cmake --build build/default -j2 --target install
+    && cmake --build build/default -j4 --target install
 
 # the official docs say also these
 # https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html
 # cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
 # python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
 
-# pull pre-built libtorch
 ARG LIBTORCH_VERSION=2.1.0
 ARG LIBTORCH_INSTALL_DIR=/libtorch-tmp
 WORKDIR ${LIBTORCH_INSTALL_DIR}
 RUN git clone -b main --recurse-submodule https://github.com/pytorch/pytorch.git
 RUN mkdir pytorch-build
 RUN cd pytorch-build
-RUN cmake -D_GLIBCXX_USE_CXX11_ABI=1 -DBUILD_SHARED_LIBS:BOOL=ON -DCMAKE_BUILD_TYPE:STRING=Release -DPYTHON_EXECUTABLE:PATH=`which python3` -DCMAKE_PREFIX_PATH=../pytorch-install ${LIBTORCH_INSTALL_DIR}/pytorch
-RUN cmake --build . --target install
+RUN USE_CUDA=0 \
+    USE_CUDNN=0 \
+    USE_NCCL=0 \
+    BUILD_TORCH=ON \
+    USE_MKLDNN=0 \
+    USE_ROCM=0 \
+    USE_KINETO=0 \
+    USE_NNPACK=1 \
+    BUILD_CAFFE2_OPS=0 \
+    BUILD_CAFFE2=0 \
+    cmake \
+    # don't need cuda, for now...
+    -DUSE_CUDA=0 \
+    # disable cudnn
+    -DUSE_CUDNN=0 \
+    # disable multigpu
+    -DUSE_NCCL=0 \
+    -DBUILD_TORCH=ON \
+    -DUSE_MKLDNN=0 \
+    -DUSE_ROCM=0 \
+    -DUSE_KINETO=0 \
+    -DUSE_NNPACK=1 \
+    -DBUILD_CAFFE2_OPS=0 \
+    -DBUILD_CAFFE2=0 \
+    -D_GLIBCXX_USE_CXX11_ABI=1 \
+    -DBUILD_SHARED_LIBS:BOOL=ON \
+    -DCMAKE_BUILD_TYPE:STRING=Release \
+    -DPYTHON_EXECUTABLE:PATH=`which python3` \
+    -DCMAKE_PREFIX_PATH=../pytorch-install \
+    ${LIBTORCH_INSTALL_DIR}/pytorch
+RUN USE_CUDA=0 \
+    USE_CUDNN=0 \
+    USE_NCCL=0 \
+    BUILD_TORCH=ON \
+    USE_MKLDNN=0 \
+    USE_ROCM=0 \
+    USE_KINETO=0 \
+    USE_NNPACK=1 \
+    BUILD_CAFFE2_OPS=0 \
+    BUILD_CAFFE2=0 \
+    cmake --build . -j4 --target install
 
-# RUN wget "https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}%2Bcpu.zip" \
-#     && unzip "libtorch-cxx11-abi-shared-with-deps-${LIBTORCH_VERSION}+cpu.zip"
-# needed to build torchvision below and to build targets that use libtorch inside the container
 ENV CMAKE_PREFIX_PATH="${LIBTORCH_INSTALL_DIR}/libtorch"
 
 # pull and build torchvision
@@ -113,20 +151,23 @@ RUN wget "https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VER
     && mkdir -p "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
     && cd "${TORCHVISION_INSTALL_DIR}/vision-${TORCHVISION_VERSION}/build" \
     && cmake -DWITH_CUDA=off -D_GLIBCXX_USE_CXX11_ABI=1 -DCMAKE_BUILD_TYPE=Release .. \
-    && make -j2 \
+    && make -j4 \
     && make install
 
-WORKDIR /obcpp
-COPY . .
-
-RUN rm -rf /obcpp/build
-WORKDIR /obcpp/build
-ENV CMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision"
-RUN GITHUB_ACTIONS=true cmake -DCMAKE_PREFIX_PATH="/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch;/usr/local/share/cmake/TorchVision" -DCMAKE_MODULE_PATH="/usr/local/share/cmake/TorchVision" -DCMAKE_BUILD_TYPE="Debug" ..
+RUN pip3 install gdown
+ENV PATH="${PATH}:${HOME}/.local/bin"
 
-RUN make cuda_check VERBOSE=1
+ARG ARENA_INSTALL_DIR=/arena-tmp
+ARG ARENA_TAR_PATH="${ARENA_INSTALL_DIR}/ArenaSDK_Linux.tar.gz"
+ENV ARENA_EXTRACTED_PATH="${ARENA_INSTALL_DIR}/ArenaSDK_Linux_ARM64"
+WORKDIR ${ARENA_INSTALL_DIR}
+RUN gdown 1VtBji-cWfetM5nXZwt55JuHPWPGahQOH -O ${ARENA_TAR_PATH}
+RUN tar -xvzf ${ARENA_TAR_PATH}
+WORKDIR ${ARENA_EXTRACTED_PATH}
+RUN sh Arena_SDK_ARM64.conf
 
 # login as non-root user
-# USER $USERNAME
+USER $USERNAME
 
-CMD [ "/obcpp/build/bin/obcpp" ]
+RUN pip3 install gdown
+ENV PATH="${PATH}:${HOME}/.local/bin"