diff --git a/.github/actions/docker-build-and-push-base/action.yaml b/.github/actions/docker-build-and-push-base/action.yaml
new file mode 100644
index 0000000000..8a5a779904
--- /dev/null
+++ b/.github/actions/docker-build-and-push-base/action.yaml
@@ -0,0 +1,63 @@
+name: docker-build-and-push-base
+description: Composite action to build and push base images to registry.
+
+inputs:
+  target-image:
+    description: Target docker image name in the registry.
+    required: true
+  build-args:
+    description: Additional build args.
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Docker meta for autoware-base:latest
+      id: meta-base
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=${{ steps.date.outputs.date }}
+        bake-target: docker-metadata-action-base
+        flavor: |
+          latest=true
+
+    - name: Docker meta for autoware-base:cuda-latest
+      id: meta-base-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=cuda-latest
+          type=raw,value=cuda-${{ steps.date.outputs.date }}
+        bake-target: docker-metadata-action-base-cuda
+        flavor: |
+          latest=false
+
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      uses: docker/bake-action@v5
+      with:
+        push: true
+        files: |
+          docker/docker-bake-base.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+          ${{ steps.meta-base-cuda.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
diff --git a/.github/workflows/autoware-base.yaml b/.github/workflows/autoware-base.yaml
new file mode 100644
index 0000000000..c4a3f2a89a
--- /dev/null
+++ b/.github/workflows/autoware-base.yaml
@@ -0,0 +1,31 @@
+name: autoware-base
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+  workflow_dispatch:
+
+jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
+  docker-build-and-push-base:
+    needs: load-env
+    runs-on: buildjet-16vcpu-ubuntu-2204
+    steps:
+      - name: Check out this repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Build Autoware's base images
+        uses: ./.github/actions/docker-build-and-push-base
+        with:
+          target-image: autoware-base
+          build-args: |
+            *.platform=linux/amd64,linux/arm64
+            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 2a9047076c..8a82503b6d 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -36,7 +36,6 @@ RUN --mount=type=ssh \
 # 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 base-cuda
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
new file mode 100644
index 0000000000..dca6fb8a0f
--- /dev/null
+++ b/docker/Dockerfile.base
@@ -0,0 +1,47 @@
+ARG BASE_IMAGE
+
+# hadolint ignore=DL3006
+FROM $BASE_IMAGE AS base
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+# Copy files
+COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
+COPY ansible/ /autoware/ansible/
+COPY docker/scripts/cleanup_apt.sh /autoware/cleanup_apt.sh
+RUN chmod +x /autoware/cleanup_apt.sh
+WORKDIR /autoware
+
+# Install apt packages and add GitHub to known hosts for private repositories
+RUN rm -f /etc/apt/apt.conf.d/docker-clean \
+  && echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' >/etc/apt/apt.conf.d/keep-cache
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+  gosu \
+  ssh \
+  && /autoware/cleanup_apt.sh \
+  && mkdir -p ~/.ssh \
+  && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+# Set up base environment
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module base --no-nvidia --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && /autoware/cleanup_apt.sh \
+  && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
+
+# Create entrypoint
+COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+CMD ["/bin/bash"]
+
+FROM base AS base-cuda
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Set up CUDA runtime environment and artifacts
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y --module base --download-artifacts --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && /autoware/cleanup_apt.sh true
diff --git a/docker/docker-bake-base.hcl b/docker/docker-bake-base.hcl
new file mode 100644
index 0000000000..43cb7facc0
--- /dev/null
+++ b/docker/docker-bake-base.hcl
@@ -0,0 +1,22 @@
+group "default" {
+  targets = [
+    "base",
+    "base-cuda"
+  ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-base" {}
+target "docker-metadata-action-base-cuda" {}
+
+target "base" {
+  inherits = ["docker-metadata-action-base"]
+  dockerfile = "docker/Dockerfile.base"
+  target = "base"
+}
+
+target "base-cuda" {
+  inherits = ["docker-metadata-action-base-cuda"]
+  dockerfile = "docker/Dockerfile.base"
+  target = "base-cuda"
+}