diff --git a/docker/build/installers/install_nvidia_ml_for_jetson.sh b/docker/build/installers/install_nvidia_ml_for_jetson.sh
index f960e2e778c9baa8bd62176e79796b59da661d01..4092dab62c7f20c38d86f32f74ee73ed780a0dae 100755
--- a/docker/build/installers/install_nvidia_ml_for_jetson.sh
+++ b/docker/build/installers/install_nvidia_ml_for_jetson.sh
@@ -22,6 +22,8 @@ cd "$(dirname "${BASH_SOURCE[0]}")"
 # Fail on first error.
 set -e
 
+TENSORRT_NEEDED=0
+
 ##===== Install CUDA 10.2 =====##
 VERSION_1="10-2"
 VERSION_2="10.2.89"
@@ -66,19 +68,29 @@ for pkg in ${CUDNN_PKGS}; do
 done
 
 for pkg in ${CUDNN_PKGS}; do
-    sudo dpkg -i "${pkg}"
+    dpkg -i "${pkg}"
     rm -rf ${pkg}
 done
 
 info "Successfully installed CUDNN ${MAJOR}"
 
-##===== Install TensorRT 7 =====##
+# Install pre-reqs for TensorRT from local CUDA repo
 
-# Install PreReqs from local CUDA repo
 apt-get -y install \
     libcublas10 \
     libcublas-dev
 
+# Kick the ladder and cleanup
+apt-get -y purge "cuda-repo-l4t-${VERSION_1}-local-${VERSION_2}"
+
+apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+if [ "${TENSORRT_NEEDED}" -eq 0 ]; then
+    exit 0
+fi
+
+CUDA_VER="10.2"
 TRT_VER1="7.1.0-1"
 MAJOR="${TRT_VER1%%.*}"
 TRT_VERSION="${TRT_VER1}+cuda${CUDA_VER}"
@@ -107,7 +119,7 @@ dpkg -i ${TRT_PKGS}
 
 info "Successfully installed TensorRT ${MAJOR}"
 
-# Kick the ladder and cleanup
-apt-get -y purge "cuda-repo-l4t-${VERSION_1}-local-${VERSION_2}"
+rm -rf ${TRT_PKGS}
+
 apt-get clean && \
     rm -rf /var/lib/apt/lists/*
diff --git a/docker/build/installers/install_tensorrt.sh b/docker/build/installers/install_tensorrt.sh
index 3686a1a479c709f3bec71a7ea5c399f3b370e2fc..d740d579c86e029e95be6fc8a052aa279272e0e8 100755
--- a/docker/build/installers/install_tensorrt.sh
+++ b/docker/build/installers/install_tensorrt.sh
@@ -23,6 +23,44 @@ cd "$(dirname "${BASH_SOURCE[0]}")"
 
 . /tmp/installers/installer_base.sh
 
+ARCH="$(uname -m)"
+
+if [ "${ARCH}" = "aarch64" ]; then
+    CUDA_VER="10.2"
+    TRT_VER1="7.1.0-1"
+    MAJOR="${TRT_VER1%%.*}"
+    TRT_VERSION="${TRT_VER1}+cuda${CUDA_VER}"
+
+    TRT_PKGS="\
+libnvinfer${MAJOR}_${TRT_VERSION}_arm64.deb \
+libnvinfer-bin_${TRT_VERSION}_arm64.deb \
+libnvinfer-dev_${TRT_VERSION}_arm64.deb \
+libnvinfer-plugin${MAJOR}_${TRT_VERSION}_arm64.deb  \
+libnvinfer-plugin-dev_${TRT_VERSION}_arm64.deb  \
+libnvonnxparsers${MAJOR}_${TRT_VERSION}_arm64.deb   \
+libnvonnxparsers-dev_${TRT_VERSION}_arm64.deb \
+libnvparsers${MAJOR}_${TRT_VERSION}_arm64.deb \
+libnvparsers-dev_${TRT_VERSION}_arm64.deb \
+"
+
+    # tensorrt_7.1.0.16-1+cuda10.2_arm64.deb 
+    # libnvinfer-doc_${TRT_VERSION}_all.deb
+    # libnvinfer-samples_${TRT_VERSION}_all.deb
+
+    for pkg in ${TRT_PKGS}; do
+        info "Downloading ${LOCAL_HTTP_ADDR}/${pkg}"
+        wget "${LOCAL_HTTP_ADDR}/${pkg}"
+    done
+
+    dpkg -i ${TRT_PKGS}
+
+    info "Successfully installed TensorRT ${MAJOR}"
+
+    rm -rf ${TRT_PKGS}
+    apt-get clean
+    exit 0
+fi
+
 #Install the TensorRT package that fits your particular needs.
 #For only running TensorRT C++ applications:
 #sudo apt-get install libnvinfer7 libnvonnxparsers7 libnvparsers7 libnvinfer-plugin7
@@ -59,9 +97,15 @@ else
         libnvinfer-plugin-dev
 fi
 
-# Make caffe-1.0 compilation pass
+# FIXME(all):
+# Previously soft sym-linked for successful caffe-1.0 compilation.
+#   Now that caffe-1.0 is retired, do we still need this?
+# Minor changes required:
+# 1) cudnn major version hard-code fix: v7,v8,...
+# 2) move to cudnn installer section
+
 CUDNN_HEADER_DIR="/usr/include/$(uname -m)-linux-gnu"
-[[ -e "${CUDNN_HEADER_DIR}/cudnn.h" ]] || \
+[ -e "${CUDNN_HEADER_DIR}/cudnn.h" ] || \
     ln -s "${CUDNN_HEADER_DIR}/cudnn_v7.h" "${CUDNN_HEADER_DIR}/cudnn.h"
 
 # Disable nvidia apt sources.list settings to speed up build process
diff --git a/docker/build/tegra_cyber.aarch64.dockerfile b/docker/build/tegra_cyber.aarch64.dockerfile
index 64bb05a1a55552eb10ef9ae942d4701067bbb1c1..511c10322ff51d8072e846d285e3b9159b303bab 100644
--- a/docker/build/tegra_cyber.aarch64.dockerfile
+++ b/docker/build/tegra_cyber.aarch64.dockerfile
@@ -7,22 +7,29 @@ ARG INSTALL_MODE
 LABEL version="1.2"
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV PATH /opt/apollo/sysroot/bin:$PATH
-
-COPY installers /tmp/installers
-COPY rcfiles /opt/apollo/rcfiles
-# Pre-downloaded tarballs
-COPY archive /tmp/archive
-
-RUN bash /tmp/installers/install_minimal_environment.sh ${GEOLOC}
-RUN bash /tmp/installers/install_bazel.sh
-RUN bash /tmp/installers/install_cmake.sh ${INSTALL_MODE}
-RUN bash /tmp/installers/install_llvm_clang.sh
 
-RUN bash /tmp/installers/install_cyber_deps.sh
-RUN bash /tmp/installers/install_qa_tools.sh
-
-RUN bash /tmp/installers/install_visualizer_deps.sh
-RUN bash /tmp/installers/post_install.sh ${BUILD_STAGE}
+ENV PATH /opt/apollo/sysroot/bin:$PATH
 
-WORKDIR /apollo
+COPY installers/installer_base.sh /tmp/installers/
+COPY installers/install_nvidia_ml_for_jetson.sh /tmp/installers/
+COPY rcfiles/apollo.sh.sample /opt/apollo/rcfiles/
+
+RUN bash /tmp/installers/install_nvidia_ml_for_jetson.sh
+
+#COPY installers /tmp/installers
+#COPY rcfiles /opt/apollo/rcfiles
+## Pre-downloaded tarballs
+#COPY archive /tmp/archive
+#
+#RUN bash /tmp/installers/install_minimal_environment.sh ${GEOLOC}
+#RUN bash /tmp/installers/install_bazel.sh
+#RUN bash /tmp/installers/install_cmake.sh ${INSTALL_MODE}
+#RUN bash /tmp/installers/install_llvm_clang.sh
+#
+#RUN bash /tmp/installers/install_cyber_deps.sh
+#RUN bash /tmp/installers/install_qa_tools.sh
+#
+#RUN bash /tmp/installers/install_visualizer_deps.sh
+#RUN bash /tmp/installers/post_install.sh ${BUILD_STAGE}
+#
+#WORKDIR /apollo