diff --git a/.github/workflows/test-docker-build.yml b/.github/workflows/test-docker-build.yml
new file mode 100644
index 00000000..f1c720f3
--- /dev/null
+++ b/.github/workflows/test-docker-build.yml
@@ -0,0 +1,109 @@
+# Inspired by
+# https://github.com/huggingface/peft/blob/main/.github/workflows/test-docker-build.yml
+name: Test Docker builds (PR)
+
+on:
+  pull_request:
+    branches:
+      - main
+    paths:
+      # Run only when DockerFile files are modified
+      - "docker/**"
+
+env:
+  PYTHON_VERSION: "3.10"
+
+jobs:
+  get_changed_files:
+    name: "Get all modified Dockerfiles"
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+          files: docker/**
+          json: "true"
+
+      - name: Run step if only the files listed above change
+        if: steps.changed-files.outputs.any_changed == 'true'
+        id: set-matrix
+        env:
+          ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
+        run: |
+          echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
+
+
+  build_modified_dockerfiles:
+    name: "Build all modified Docker images"
+    needs: get_changed_files
+    runs-on: ubuntu-latest
+    if: ${{ needs.get_changed_files.outputs.matrix }} != ''
+    strategy:
+      fail-fast: false
+      matrix:
+        docker-file: ${{ fromJson(needs.get_changed_files.outputs.matrix) }}
+    steps:
+      - name: Cleanup disk
+        run: |
+          sudo df -h
+          # sudo ls -l /usr/local/lib/
+          # sudo ls -l /usr/share/
+          sudo du -sh /usr/local/lib/
+          sudo du -sh /usr/share/
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /usr/share/dotnet
+          sudo du -sh /usr/local/lib/
+          sudo du -sh /usr/share/
+          sudo df -h
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      # HACK(aliberts): to be removed for release
+      # -----------------------------------------
+      - name: Checkout gym-aloha
+        uses: actions/checkout@v4
+        with:
+          repository: huggingface/gym-aloha
+          path: envs/gym-aloha
+          ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Checkout gym-xarm
+        uses: actions/checkout@v4
+        with:
+          repository: huggingface/gym-xarm
+          path: envs/gym-xarm
+          ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Checkout gym-pusht
+        uses: actions/checkout@v4
+        with:
+          repository: huggingface/gym-pusht
+          path: envs/gym-pusht
+          ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Change envs dependencies as local path
+        run: python .github/scripts/dep_build.py
+      # -----------------------------------------
+
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        with:
+          file: ${{ matrix.docker-file }}
+          context: .
+          push: False
+          build-args: PYTHON_VERSION=${{ env.PYTHON_VERSION }}
diff --git a/docker/lerobot-gpu/Dockerfile b/docker/lerobot-gpu/Dockerfile
index 2c36b484..ab78937c 100644
--- a/docker/lerobot-gpu/Dockerfile
+++ b/docker/lerobot-gpu/Dockerfile
@@ -4,7 +4,6 @@ FROM nvidia/cuda:12.4.1-base-ubuntu22.04
 ARG PYTHON_VERSION=3.10
 ARG DEBIAN_FRONTEND=noninteractive
 
-
 # Install apt dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential cmake \
@@ -12,7 +11,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python${PYTHON_VERSION} python${PYTHON_VERSION}-venv \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
-
 # Create virtual environment
 RUN ln -s /usr/bin/python${PYTHON_VERSION} /usr/bin/python
 RUN python -m venv /opt/venv