diff --git a/.github/docker/ci-base.Dockerfile b/.github/docker/ci-base.Dockerfile
index 92259a5..3de5a29 100644
--- a/.github/docker/ci-base.Dockerfile
+++ b/.github/docker/ci-base.Dockerfile
@@ -13,6 +13,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python3-catkin-tools \
     libgoogle-glog-dev \
     libspdlog-dev \
+    libyaml-cpp-dev \
     git \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fa3f20d..59eff1d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,6 +1,7 @@
 name: CI
 
 on:
+  workflow_dispatch:
   push:
     branches: [main]
     paths-ignore: ['**.md', 'LICENSE', '.gitignore']
@@ -10,7 +11,7 @@ on:
 jobs:
   lint:
     name: Lint
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -29,7 +30,7 @@ jobs:
       matrix:
         include:
           - arch: amd64
-            runner: ubuntu-latest
+            runner: ubuntu-24.04
             image: ghcr.io/${{ github.repository }}/ci-base:amd64
           - arch: arm64
             runner: ubuntu-24.04-arm
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 74aa1d7..8b178d5 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -17,11 +17,9 @@ jobs:
       matrix:
         include:
           - arch: amd64
-            platform: linux/amd64
-            runner: ubuntu-latest
+            runner: ubuntu-24.04
           - arch: arm64
-            platform: linux/arm64
-            runner: ubuntu-latest  # uses QEMU for arm64
+            runner: ubuntu-24.04-arm
 
     runs-on: ${{ matrix.runner }}
     permissions:
@@ -32,9 +30,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v4
 
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v3
-
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
@@ -50,7 +45,6 @@ jobs:
         with:
           context: .github/docker
           file: .github/docker/ci-base.Dockerfile
-          platforms: ${{ matrix.platform }}
           push: true
           tags: ${{ env.IMAGE }}:${{ matrix.arch }}
           cache-from: type=gha,scope=ci-base-${{ matrix.arch }}