diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 6ca62218712..1d30b4b5a57 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -92,7 +92,7 @@ runs:
         echo "$EOF" >> $GITHUB_OUTPUT
       shell: bash
 
-    - name: Docker meta for base
+    - name: Docker meta for autoware:base
       id: meta-base
       uses: docker/metadata-action@v5
       with:
@@ -103,49 +103,60 @@ runs:
           latest=false
           suffix=-base${{ inputs.tag-suffix }}
 
-    - name: Docker meta for autoware-core
-      id: meta-autoware-core
+    - name: Docker meta for autoware:core-devel
+      id: meta-core-devel
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-autoware-core
+        bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
-          suffix=-autoware-core${{ inputs.tag-suffix }}
+          suffix=-core-devel${{ inputs.tag-suffix }}
 
-    - name: Docker meta for autoware-universe
-      id: meta-autoware-universe
+    - name: Docker meta for autoware:universe-sensing-perception-devel
+      id: meta-universe-sensing-perception-devel
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-autoware-universe
+        bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
-          suffix=-autoware-universe${{ inputs.tag-suffix }}
+          suffix=-universe-sensing-perception-devel${{ inputs.tag-suffix }}
 
-    - name: Docker meta for devel
-      id: meta-devel
+    - name: Docker meta for autoware:universe-sensing-perception
+      id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
+        bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
-          suffix=-devel${{ inputs.tag-suffix }}
+          suffix=-universe-sensing-perception${{ inputs.tag-suffix }}
 
-    - name: Docker meta for runtime
-      id: meta-runtime
+    - name: Docker meta for autoware:universe-devel
+      id: meta-universe-devel
       uses: docker/metadata-action@v5
       with:
         images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-runtime
+        bake-target: docker-metadata-action-universe-devel
+        flavor: |
+          latest=false
+          suffix=-universe-devel${{ inputs.tag-suffix }}
+
+    - name: Docker meta for autoware:universe
+      id: meta-universe
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto
-          suffix=-runtime${{ inputs.tag-suffix }}
+          suffix=-universe${{ inputs.tag-suffix }}
 
     - name: Login to Docker Hub
       uses: docker/login-action@v3
@@ -160,10 +171,11 @@ runs:
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-autoware-core.outputs.bake-file }}
-          ${{ steps.meta-autoware-universe.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-runtime.outputs.bake-file }}
+          ${{ steps.meta-core-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
+          ${{ steps.meta-universe-devel.outputs.bake-file }}
+          ${{ steps.meta-universe.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
diff --git a/autoware.repos b/autoware.repos
index e9795ef8456..9abd0d21826 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -133,6 +133,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
     version: main
+  vehicle/awsim_labs_vehicle_launch:
+    type: git
+    url: https://github.com/autowarefoundation/awsim_labs_vehicle_launch.git
+    version: main
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
diff --git a/docker/Dockerfile b/docker/Dockerfile
index f053916daea..9e62ce5a02e 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -31,6 +31,9 @@ RUN --mount=type=ssh \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
 
 # Create entrypoint
+COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
 # hadolint ignore=DL3006
@@ -82,6 +85,13 @@ RUN rosdep keys --ignore-src --from-paths src \
     | sort \
     > /rosdep-universe-sensing-perception-depend-packages.txt \
     && cat /rosdep-universe-sensing-perception-depend-packages.txt
+RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-sensing-perception-exec-depend-packages.txt \
+    && cat /rosdep-universe-sensing-perception-exec-depend-packages.txt
 
 COPY src/launcher /autoware/src/launcher
 COPY src/param /autoware/src/param
@@ -105,15 +115,16 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
     > /rosdep-exec-depend-packages.txt \
     && cat /rosdep-exec-depend-packages.txt
 
-FROM base AS autoware-core
+FROM base AS core-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
 
-# Set up development environment
+# Set up development environment and tools
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
   ./setup-dev-env.sh -y --module all openadkit \
+  && ./setup-dev-env.sh -y --module dev-tools openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
@@ -138,7 +149,10 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
-FROM autoware-core AS autoware-universe-common
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
+FROM core-devel AS universe-common-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -170,7 +184,10 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
-FROM autoware-universe-common AS autoware-universe-sensing-perception
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
+FROM universe-common-devel AS universe-sensing-perception-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -199,9 +216,10 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
+ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM autoware-universe-common AS autoware-universe
+FROM universe-common-devel AS universe-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
@@ -214,7 +232,7 @@ RUN --mount=type=ssh \
   && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-COPY --from=autoware-universe-sensing-perception /opt/autoware /opt/autoware
+COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
@@ -244,25 +262,44 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
+ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM autoware-universe AS devel
+FROM base AS universe-sensing-perception
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+ARG SETUP_ARGS
 
-# Install development tools and artifacts
+# Set up runtime environment and artifacts
+COPY --from=rosdep-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module dev-tools openadkit \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  && apt-get update \
+  && cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
+  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
+  && find / -name "*.o" -type f -delete \
+  && find / -name "*.h" -type f -delete \
+  && find / -name "*.hpp" -type f -delete \
+  && rm -rf /autoware/ansible \
+    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
+    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+
+COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
+
+# Copy bash aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 
-# Create entrypoint
-COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
-RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM base AS runtime
+FROM base AS universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
@@ -287,14 +324,11 @@ RUN --mount=type=ssh \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
 
-COPY --from=autoware-universe /opt/autoware /opt/autoware
+COPY --from=universe-devel /opt/autoware /opt/autoware
 
 # Copy bash aliases
 COPY docker/etc/.bash_aliases /root/.bash_aliases
 RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 
-# Create entrypoint
-COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
-RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
+CMD ["/bin/bash"]
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 9e3fb6536a7..4360c907329 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -1,13 +1,21 @@
 group "default" {
-  targets = ["base", "autoware-core", "autoware-universe", "devel", "runtime"]
+  targets = [
+    "base",
+    "core-devel",
+    "universe-sensing-perception-devel",
+    "universe-sensing-perception",
+    "universe-devel",
+    "universe"
+  ]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-base" {}
-target "docker-metadata-action-autoware-core" {}
-target "docker-metadata-action-autoware-universe" {}
-target "docker-metadata-action-devel" {}
-target "docker-metadata-action-runtime" {}
+target "docker-metadata-action-core-devel" {}
+target "docker-metadata-action-universe-sensing-perception-devel" {}
+target "docker-metadata-action-universe-sensing-perception" {}
+target "docker-metadata-action-universe-devel" {}
+target "docker-metadata-action-universe" {}
 
 target "base" {
   inherits = ["docker-metadata-action-base"]
@@ -15,26 +23,32 @@ target "base" {
   target = "base"
 }
 
-target "autoware-core" {
-  inherits = ["docker-metadata-action-autoware-core"]
+target "core-devel" {
+  inherits = ["docker-metadata-action-core-devel"]
   dockerfile = "docker/Dockerfile"
-  target = "autoware-core"
+  target = "core-devel"
 }
 
-target "autoware-universe" {
-  inherits = ["docker-metadata-action-autoware-universe"]
+target "universe-sensing-perception-devel" {
+  inherits = ["docker-metadata-action-universe-sensing-perception-devel"]
   dockerfile = "docker/Dockerfile"
-  target = "autoware-universe"
+  target = "universe-sensing-perception-devel"
 }
 
-target "devel" {
-  inherits = ["docker-metadata-action-devel"]
+target "universe-sensing-perception" {
+  inherits = ["docker-metadata-action-universe-sensing-perception"]
   dockerfile = "docker/Dockerfile"
-  target = "devel"
+  target = "universe-sensing-perception"
 }
 
-target "runtime" {
-  inherits = ["docker-metadata-action-runtime"]
+target "universe-devel" {
+  inherits = ["docker-metadata-action-universe-devel"]
   dockerfile = "docker/Dockerfile"
-  target = "runtime"
+  target = "universe-devel"
+}
+
+target "universe" {
+  inherits = ["docker-metadata-action-universe"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe"
 }