diff --git a/cuda/Dockerfile b/cuda/Dockerfile
index 1293575..9ec8186 100644
--- a/cuda/Dockerfile
+++ b/cuda/Dockerfile
@@ -5,18 +5,22 @@ WORKDIR /usr/src
 ENV DEBIAN_FRONTEND noninteractive
 
 # Set variables for the Yocto version of the OS
-ENV YOCTO_VERSION=5.10.43
+ENV YOCTO_VERSION=6.6
 ENV YOCTO_KERNEL=${YOCTO_VERSION}-yocto-standard
 
 # Set variables to download proper NVIDIA driver
-ENV NVIDIA_DRIVER_VERSION=470.86
+ENV NVIDIA_DRIVER_VERSION=570.153.02
 ENV NVIDIA_DRIVER=NVIDIA-Linux-x86_64-${NVIDIA_DRIVER_VERSION}
 
 # Install some prereqs
-RUN install_packages git wget unzip build-essential libelf-dev bc libssl-dev bison flex software-properties-common libglvnd-dev
+RUN install_packages git wget unzip build-essential libelf-dev bc libssl-dev bison flex software-properties-common libglvnd-dev cmake
 
 WORKDIR /usr/src/nvidia
 
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    rm cuda-keyring_1.1-1_all.deb
+
 # Download and compile NVIDIA driver
 RUN \
     curl -fsSL -O https://us.download.nvidia.com/XFree86/Linux-x86_64/$NVIDIA_DRIVER_VERSION/$NVIDIA_DRIVER.run && \
@@ -50,17 +54,17 @@ RUN \
 RUN \
     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin && \
     mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
-    apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub && \
     add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /" && \
     apt-get update && \
     apt-get -y install cuda
     
-ENV PATH="/usr/local/cuda-11.5/bin:$PATH"
-ENV LD_LIBRARY_PATH="/usr/local/cuda-11.5/lib64:$LD_LIBRARY_PATH"
+ENV PATH="/usr/local/cuda-12.1/bin:$PATH"
+ENV LD_LIBRARY_PATH="/usr/local/cuda-12.1/lib64:$LD_LIBRARY_PATH"
 
 # Compile one CUDA sample application
 RUN \
-    cd /usr/local/cuda-11.5/samples/1_Utilities/deviceQuery && \
+    git clone https://github.com/NVIDIA/cuda-samples.git --branch v12.1 /usr/local/cuda-samples && \
+    cd /usr/local/cuda-samples/Samples/1_Utilities/deviceQuery && \
     make -j8
     
 WORKDIR /usr/src/app
diff --git a/gpu/Dockerfile b/gpu/Dockerfile
index 7188780..b6c7152 100644
--- a/gpu/Dockerfile
+++ b/gpu/Dockerfile
@@ -5,15 +5,15 @@ WORKDIR /usr/src
 ENV DEBIAN_FRONTEND noninteractive
 
 # Set some variables to download the proper header modules
-ENV VERSION="2.107.8%2Brev1"
-ENV BALENA_MACHINE_NAME="genericx86-64-ext"
+ENV VERSION="6.5.34%2Brev5"
+ENV BALENA_MACHINE_NAME="generic-amd64"
 
 # Set variables for the Yocto version of the OS
-ENV YOCTO_VERSION=5.10.43
+ENV YOCTO_VERSION=6.6
 ENV YOCTO_KERNEL=${YOCTO_VERSION}-yocto-standard
 
 # Set variables to download proper NVIDIA driver
-ENV NVIDIA_DRIVER_VERSION=470.86
+ENV NVIDIA_DRIVER_VERSION=570.153.02
 ENV NVIDIA_DRIVER=NVIDIA-Linux-x86_64-${NVIDIA_DRIVER_VERSION}
 
 # Install some prereqs
@@ -27,7 +27,7 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Download the kernel source then prepare kernel source to build a module.
 RUN \
-    curl -fsSL "https://files.balena-cloud.com/images/${BALENA_MACHINE_NAME}/${VERSION}/kernel-modules-headers.tar.gz" \
+    curl -fsSL "https://files.balena-cloud.com/images/${BALENA_MACHINE_NAME}/${VERSION}/kernel_modules_headers.tar.gz" \
         | tar xz --strip-components=2 && \
     make -C build modules_prepare -j"$(nproc)"
 
@@ -36,6 +36,10 @@ RUN install_packages libglvnd-dev
 
 WORKDIR /usr/src/nvidia
 
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    rm cuda-keyring_1.1-1_all.deb
+
 # Download and compile NVIDIA driver
 RUN \
     curl -fsSL -O https://us.download.nvidia.com/XFree86/Linux-x86_64/$NVIDIA_DRIVER_VERSION/$NVIDIA_DRIVER.run && \