diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index a8221589..5def7a0b 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -42,6 +42,15 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Create cache directory
+        run: |
+          mkdir -p ./.buildx-cache/cache
+          mkdir ./.buildx-cache/cache-new
+          mkdir ./.buildx-cache/cache/test
+          mkdir ./.buildx-cache/cache/latest
+          mkdir ./.buildx-cache/cache-new/test
+          mkdir ./.buildx-cache/cache-new/latest
+
       - name: Test build
         if: github.event_name == 'pull_request'
         uses: docker/build-push-action@v3
@@ -50,8 +59,8 @@ jobs:
           file: ./build/docker/agent/Dockerfile
           load: true
           tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME}}:test
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          cache-from: type=local,src=./.buildx-cache/cache/test/
+          cache-to: type=local,dest=./.buildx-cache/cache-new/test/,mode=max
           build-args: |
             USERNAME=paf
             USER_UID=1000
@@ -67,8 +76,8 @@ jobs:
           push: true
           # tag 'latest' and version on push to main, otherwise use the commit hash
           tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          cache-from: type=local,src=./.buildx-cache/cache/latest/
+          cache-to: type=local,dest=./.buildx-cache/cache-new/latest/,mode=max
           build-args: |
             USERNAME=paf
             USER_UID=1000
@@ -85,4 +94,11 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: pr_id
-          path: pr/
\ No newline at end of file
+          path: pr/
+          retention-days: 1
+
+      - name: Clean up cache
+        run: |
+          rm -rf ./.buildx-cache/cache/test
+          rm -rf ./.buildx-cache/cache/latest
+          mv ./.buildx-cache/cache-new ./.buildx-cache/cache
\ No newline at end of file
diff --git a/.github/workflows/drive.yml b/.github/workflows/drive.yml
index 5aa0733c..c8a23b83 100644
--- a/.github/workflows/drive.yml
+++ b/.github/workflows/drive.yml
@@ -32,6 +32,10 @@ jobs:
             let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
               return artifact.name == "pr_id"
             })[0];
+            if (!matchArtifact) {
+              core.setFailed('No pr_id artifact found from the build workflow');
+              return;
+            }
             let download = await github.rest.actions.downloadArtifact({
                owner: context.repo.owner,
                repo: context.repo.repo,
@@ -42,12 +46,23 @@ jobs:
             fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_id.zip`, Buffer.from(download.data));
 
       - name: 'Unzip artifact (PR ID)'
-        run: unzip pr_id.zip
+        run: |
+          unzip pr_id.zip
+
+      - name: Check PR ID
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let issue_number = fs.readFileSync('./pr_id');
+            if (!issue_number || isNaN(Number(issue_number))) {
+              core.setFailed(`Invalid PR ID: ${prIdContent}`);
+              return;
+            }
 
       - name: Run docker-compose
         run: |
           xhost +local:
-          USERNAME=$(whoami) USER_UID=$(id -u) USER_GID=$(id -g) docker compose up --quiet-pull --exit-code-from agent
+          USERNAME=$(whoami) USER_UID=$(id -u) USER_GID=$(id -g) RENDER_OFFSCREEN=-RenderOffScreen docker compose up --quiet-pull --exit-code-from agent
       - name: Copy results
         run: docker compose cp agent:/tmp/simulation_results.json .
       - name: Stop docker-compose
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 14b08a01..b83bfc4e 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -22,7 +22,7 @@
     "docker.commands.composeUp": [
         {
             "label": "Compose Up",
-            "template": "xhost +local: && USERNAME=$(whoami) USER_UID=$(id -u) USER_GID=$(id -g) ${composeCommand} ${configurationFile} up"
+            "template": "xhost +local: && USERNAME=$(whoami) USER_UID=$(id -u) USER_GID=$(id -g) RENDER_OFFSCREEN= ${composeCommand} ${configurationFile} up"
         }
     ],
     "workbench.iconTheme": "vscode-icons",
diff --git a/build/docker-compose.carla-simulator.yaml b/build/docker-compose.carla-simulator.yaml
index 9106806f..2fe43d31 100644
--- a/build/docker-compose.carla-simulator.yaml
+++ b/build/docker-compose.carla-simulator.yaml
@@ -1,7 +1,7 @@
 services:
   # based on https://github.com/ll7/paf21-1/blob/master/scenarios/docker-carla-sim-compose.yml
   carla-simulator:
-    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound -carla-settings="/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini"
+    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound -carla-settings="/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini" ${RENDER_OFFSCREEN}
     image: ghcr.io/una-auxme/paf23:leaderboard-2.0
     init: true
     deploy: