diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
index 0e6f1790f..a2db13b79 100644
--- a/.github/workflows/docker-build.yaml
+++ b/.github/workflows/docker-build.yaml
@@ -18,6 +18,7 @@ on:
       - 'scripts/setup_*.sh'
       - 'src/holosoma_inference/docker/Dockerfile'
       - 'src/holosoma_retargeting/docker/Dockerfile'
+      - 'docker/thor/Dockerfile'
 
 permissions:
   contents: read
@@ -52,6 +53,16 @@ jobs:
           dockerfile: 'docker/mujoco.Dockerfile'
           runner_prefix: 'codebuild-holosoma-a10g-x1-gpu-build'
         #TODO: add mujoco warp
+        # Thor (Jetson) images — aarch64 SBSA, built natively on an ARM runner.
+        # Single Dockerfile, two targets; each pushes its own image.
+        - environment: thor-inference
+          dockerfile: 'docker/thor/Dockerfile'
+          target: 'inference'
+          runner_prefix: 'codebuild-holosoma-arm-build'
+        - environment: thor-inference-ros
+          dockerfile: 'docker/thor/Dockerfile'
+          target: 'inference-ros'
+          runner_prefix: 'codebuild-holosoma-arm-build'
     name: Build ${{ matrix.environment }} Docker Image
     continue-on-error: true
     runs-on: ${{ matrix.runner_prefix }}-${{ github.run_id }}-${{ github.run_attempt }}
@@ -87,6 +98,7 @@ jobs:
         with:
           context: .
           file: "${{ matrix.dockerfile }}"
+          target: "${{ matrix.target }}"
           push: true
           tags: "${{ steps.tags.outputs.tags }}"
           cache-from: type=registry,ref=${{ steps.name.outputs.image_path  }}:buildcache