diff --git a/scripts/apollo.bashrc b/scripts/apollo.bashrc
index dc55b2c888ab510725824a8514f52db2ea4ec7e8..e13ab3d6eb0a22da8f79acd2773e77c01ea868e2 100644
--- a/scripts/apollo.bashrc
+++ b/scripts/apollo.bashrc
@@ -90,10 +90,12 @@ function determine_gpu_use() {
 
     if [[ "${arch}" == "aarch64" ]]; then
         if lsmod | grep -q nvgpu; then
-            use_gpu=1
+            if ldconfig -p | grep -q cudart; then
+                use_gpu=1
+            fi
         fi
     else ## x86_64 mode
-        # TODO(all): remove USE_GPU when {cyber,dev}_start.sh"
+        # TODO(all): remove USE_GPU env var in {cyber,dev}_start.sh"
         # Check nvidia-driver and GPU device
         local nv_driver="nvidia-smi"
         if [ ! -x "$(command -v ${nv_driver} )" ]; then
diff --git a/scripts/apollo_config.sh b/scripts/apollo_config.sh
index dc4056af46eb7cf63560fa333718f7a85e51af82..2d835a587771c6e7e985f673acb690010d641737 100755
--- a/scripts/apollo_config.sh
+++ b/scripts/apollo_config.sh
@@ -17,16 +17,11 @@ BAZEL_CONF="${TOP_DIR}/.apollo.bazelrc"
 
 function config_noninteractive() {
     echo "${STARTUP_TXT}" > "${BAZEL_CONF}"
-    # determine_gpu_use
-    # FIXME(all): Disable gpu mode for aarch64 until we are ready.
-    if [ "$(uname -m)" = "aarch64" ]; then
-        echo "build --config=cpu" >> "${BAZEL_CONF}"
+    determine_gpu_use
+    if [ "${USE_GPU}" -eq 1 ]; then
+        echo "build --config=gpu" >> "${BAZEL_CONF}"
     else
-        if [ "${USE_GPU}" -eq 1 ]; then
-            echo "build --config=gpu" >> "${BAZEL_CONF}"
-        else
-            echo "build --config=cpu" >> "${BAZEL_CONF}"
-        fi
+        echo "build --config=cpu" >> "${BAZEL_CONF}"
     fi
     cat "${TOP_DIR}/tools/apollo.bazelrc.sample" >> "${BAZEL_CONF}"
 }