diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
index e6da14db8b..7eb802d417 100644
--- a/.github/workflows/docker-build-and-push-arm64.yaml
+++ b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -1,6 +1,7 @@
 name: docker-build-and-push-arm64
 
 on:
+  pull_request:
   push:
     branches:
       - main
@@ -13,7 +14,7 @@ jobs:
 
   docker-build-and-push:
     needs: load-env
-    runs-on: buildjet-16vcpu-ubuntu-2204-arm
+    runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check if PR author is the specific user
         id: author-check
@@ -36,6 +37,9 @@ jobs:
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
       - name: Get changed files
         id: changed-files
         uses: tj-actions/changed-files@v45
@@ -63,9 +67,6 @@ jobs:
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
             *.args.LIB_DIR=aarch64
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
       - name: Show disk space
         if: always()
@@ -74,7 +75,7 @@ jobs:
 
   docker-build-and-push-cuda:
     needs: [load-env, docker-build-and-push]
-    runs-on: buildjet-16vcpu-ubuntu-2204-arm
+    runs-on: buildjet-16vcpu-ubuntu-2204
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -84,6 +85,9 @@ jobs:
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
       - name: Get changed files
         id: changed-files
         uses: tj-actions/changed-files@v45
@@ -110,9 +114,6 @@ jobs:
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
             *.args.LIB_DIR=aarch64
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
 
       - name: Show disk space
         if: always()