diff --git a/.github/actions/docker-build-and-push-cuda/action.yaml b/.github/actions/docker-build-and-push-cuda/action.yaml
deleted file mode 100644
index 35419e96d0d..00000000000
--- a/.github/actions/docker-build-and-push-cuda/action.yaml
+++ /dev/null
@@ -1,123 +0,0 @@
-name: docker-build-and-push
-description: ""
-
-inputs:
-  platform:
-    description: ""
-    required: true
-  bake-target:
-    description: ""
-    required: true
-  build-args:
-    description: ""
-    required: false
-  dockerhub-token:
-    description: ""
-    required: true
-
-runs:
-  using: composite
-  steps:
-    - name: Setup Docker Buildx
-      uses: docker/setup-buildx-action@v3
-
-    - name: Restore ccache
-      uses: actions/cache/restore@v4
-      with:
-        path: |
-          root-ccache
-        key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
-        restore-keys: |
-          ccache-${{ inputs.platform }}-
-
-    - name: Restore apt-get
-      uses: actions/cache/restore@v4
-      with:
-        path: |
-          var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
-        restore-keys: |
-          apt-get-${{ inputs.platform }}-
-
-    - name: Inject cache into docker
-      uses: reproducible-containers/buildkit-cache-dance@v3.1.2
-      with:
-        cache-map: |
-          {
-            "root-ccache": "/root/.ccache",
-            "var-cache-apt": "/var/cache/apt"
-          }
-        skip-extraction: true
-
-    - name: Get current date
-      id: date
-      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
-      shell: bash
-
-    - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
-      id: meta-universe-sensing-perception-devel-cuda
-      uses: docker/metadata-action@v5
-      with:
-        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: |
-          type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
-        flavor: |
-          latest=false
-
-    - name: Docker meta for autoware:universe-sensing-perception-cuda
-      id: meta-universe-sensing-perception-cuda
-      uses: docker/metadata-action@v5
-      with:
-        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: |
-          type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
-          type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-universe-sensing-perception-cuda
-        flavor: |
-          latest=false
-
-    - name: Docker meta for autoware:universe-devel-cuda
-      id: meta-universe-devel-cuda
-      uses: docker/metadata-action@v5
-      with:
-        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: |
-          type=raw,value=universe-devel-cuda-${{ inputs.platform }}
-          type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-universe-devel-cuda
-        flavor: |
-          latest=false
-
-    - name: Docker meta for autoware:universe-cuda
-      id: meta-universe-cuda
-      uses: docker/metadata-action@v5
-      with:
-        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: |
-          type=raw,value=universe-cuda-${{ inputs.platform }}
-          type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
-        bake-target: docker-metadata-action-universe-cuda
-        flavor: |
-          latest=auto
-
-    - name: Login to Docker Hub
-      uses: docker/login-action@v3
-      with:
-        username: ${{ github.repository_owner }}
-        password: ${{ inputs.dockerhub-token }}
-
-    - name: Build and Push to GitHub Container Registry
-      uses: docker/bake-action@v5
-      with:
-        push: true
-        files: |
-          docker/docker-bake-cuda.hcl
-          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
-          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
-          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
-          ${{ steps.meta-universe-cuda.outputs.bake-file }}
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 5c917343194..a1dbe18e6f0 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -100,7 +100,6 @@ runs:
         flavor: |
           latest=false
 
-<<<<<<< HEAD
     - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
       id: meta-universe-sensing-perception-devel-cuda
       uses: docker/metadata-action@v5
@@ -113,8 +112,6 @@ runs:
         flavor: |
           latest=false
 
-=======
->>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe-sensing-perception
       id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
@@ -127,7 +124,6 @@ runs:
         flavor: |
           latest=false
 
-<<<<<<< HEAD
     - name: Docker meta for autoware:universe-sensing-perception-cuda
       id: meta-universe-sensing-perception-cuda
       uses: docker/metadata-action@v5
@@ -140,8 +136,6 @@ runs:
         flavor: |
           latest=false
 
-=======
->>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe-localization-mapping-devel
       id: meta-universe-localization-mapping-devel
       uses: docker/metadata-action@v5
@@ -226,7 +220,6 @@ runs:
         flavor: |
           latest=false
 
-<<<<<<< HEAD
     - name: Docker meta for autoware:universe-devel-cuda
       id: meta-universe-devel-cuda
       uses: docker/metadata-action@v5
@@ -239,8 +232,6 @@ runs:
         flavor: |
           latest=false
 
-=======
->>>>>>> 3f6461b (Revert "integrate")
     - name: Docker meta for autoware:universe
       id: meta-universe
       uses: docker/metadata-action@v5
@@ -253,7 +244,6 @@ runs:
         flavor: |
           latest=auto
 
-<<<<<<< HEAD
     - name: Docker meta for autoware:universe-cuda
       id: meta-universe-cuda
       uses: docker/metadata-action@v5
@@ -266,9 +256,7 @@ runs:
         flavor: |
           latest=auto
 
-=======
->>>>>>> 3f6461b (Revert "integrate")
-    - name: Login to Docker Hub
+    - name: Login to GitHub Container Registry
       uses: docker/login-action@v3
       with:
         registry: ghcr.io
@@ -284,7 +272,9 @@ runs:
           ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
@@ -292,7 +282,9 @@ runs:
           ${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
+          ${{ steps.meta-universe-cuda.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
diff --git a/.github/workflows/health-check.yaml b/.github/workflows/health-check.yaml
index b7df60fac92..55894881a4d 100644
--- a/.github/workflows/health-check.yaml
+++ b/.github/workflows/health-check.yaml
@@ -26,7 +26,7 @@ jobs:
 
   docker-build:
     needs: load-env
-    runs-on: buildjet-16vcpu-ubuntu-2204
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
     steps:
diff --git a/docker/docker-bake-cuda.hcl b/docker/docker-bake-cuda.hcl
deleted file mode 100644
index 87aa27df879..00000000000
--- a/docker/docker-bake-cuda.hcl
+++ /dev/null
@@ -1,38 +0,0 @@
-group "default" {
-  targets = [
-    "universe-sensing-perception-devel-cuda",
-    "universe-sensing-perception-cuda",
-    "universe-devel-cuda",
-    "universe-cuda"
-  ]
-}
-
-// For docker/metadata-action
-target "docker-metadata-action-universe-sensing-perception-devel-cuda" {}
-target "docker-metadata-action-universe-sensing-perception-cuda" {}
-target "docker-metadata-action-universe-devel-cuda" {}
-target "docker-metadata-action-universe-cuda" {}
-
-target "universe-sensing-perception-devel-cuda" {
-  inherits = ["docker-metadata-action-universe-sensing-perception-devel-cuda"]
-  dockerfile = "docker/Dockerfile"
-  target = "universe-sensing-perception-devel-cuda"
-}
-
-target "universe-sensing-perception-cuda" {
-  inherits = ["docker-metadata-action-universe-sensing-perception-cuda"]
-  dockerfile = "docker/Dockerfile"
-  target = "universe-sensing-perception-cuda"
-}
-
-target "universe-devel-cuda" {
-  inherits = ["docker-metadata-action-universe-devel-cuda"]
-  dockerfile = "docker/Dockerfile"
-  target = "universe-devel-cuda"
-}
-
-target "universe-cuda" {
-  inherits = ["docker-metadata-action-universe-cuda"]
-  dockerfile = "docker/Dockerfile"
-  target = "universe-cuda"
-}
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 35d0f7fdbfc..445c26a349e 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -3,7 +3,9 @@ group "default" {
     "base",
     "core-devel",
     "universe-sensing-perception-devel",
+    "universe-sensing-perception-devel-cuda",
     "universe-sensing-perception",
+    "universe-sensing-perception-cuda",
     "universe-localization-mapping-devel",
     "universe-localization-mapping",
     "universe-planning-control-devel",
@@ -11,7 +13,9 @@ group "default" {
     "universe-vehicle-system-devel",
     "universe-vehicle-system",
     "universe-devel",
-    "universe"
+    "universe-devel-cuda",
+    "universe",
+    "universe-cuda"
   ]
 }
 
@@ -19,7 +23,9 @@ group "default" {
 target "docker-metadata-action-base" {}
 target "docker-metadata-action-core-devel" {}
 target "docker-metadata-action-universe-sensing-perception-devel" {}
+target "docker-metadata-action-universe-sensing-perception-devel-cuda" {}
 target "docker-metadata-action-universe-sensing-perception" {}
+target "docker-metadata-action-universe-sensing-perception-cuda" {}
 target "docker-metadata-action-universe-localization-mapping-devel" {}
 target "docker-metadata-action-universe-localization-mapping" {}
 target "docker-metadata-action-universe-planning-control-devel" {}
@@ -27,7 +33,9 @@ target "docker-metadata-action-universe-planning-control" {}
 target "docker-metadata-action-universe-vehicle-system-devel" {}
 target "docker-metadata-action-universe-vehicle-system" {}
 target "docker-metadata-action-universe-devel" {}
+target "docker-metadata-action-universe-devel-cuda" {}
 target "docker-metadata-action-universe" {}
+target "docker-metadata-action-universe-cuda" {}
 
 target "base" {
   inherits = ["docker-metadata-action-base"]
@@ -47,12 +55,24 @@ target "universe-sensing-perception-devel" {
   target = "universe-sensing-perception-devel"
 }
 
+target "universe-sensing-perception-devel-cuda" {
+  inherits = ["docker-metadata-action-universe-sensing-perception-devel-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-sensing-perception-devel-cuda"
+}
+
 target "universe-sensing-perception" {
   inherits = ["docker-metadata-action-universe-sensing-perception"]
   dockerfile = "docker/Dockerfile"
   target = "universe-sensing-perception"
 }
 
+target "universe-sensing-perception-cuda" {
+  inherits = ["docker-metadata-action-universe-sensing-perception-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-sensing-perception-cuda"
+}
+
 target "universe-localization-mapping-devel" {
   inherits = ["docker-metadata-action-universe-localization-mapping-devel"]
   dockerfile = "docker/Dockerfile"
@@ -95,8 +115,20 @@ target "universe-devel" {
   target = "universe-devel"
 }
 
+target "universe-devel-cuda" {
+  inherits = ["docker-metadata-action-universe-devel-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-devel-cuda"
+}
+
 target "universe" {
   inherits = ["docker-metadata-action-universe"]
   dockerfile = "docker/Dockerfile"
   target = "universe"
 }
+
+target "universe-cuda" {
+  inherits = ["docker-metadata-action-universe-cuda"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-cuda"
+}