diff --git a/docker/aarch64.dockerfile b/docker/aarch64.dockerfile
index fe5afd31..99a71fd8 100644
--- a/docker/aarch64.dockerfile
+++ b/docker/aarch64.dockerfile
@@ -128,6 +128,9 @@ RUN pip3 install trimesh \
   rosdep \
   empy
 
+# Add cache date to avoid using cached layers older than this
+ARG CACHE_DATE=2023-12-15 
+
 # warp from https://github.com/NVIDIA/warp needs to be compiled locally and then 
 # placed in curobo/docker/pkgs. 
 # Run the following from your terminal:
@@ -149,10 +152,12 @@ ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
 
 RUN cd /pkgs/curobo && pip3 install . --no-build-isolation
 
+WORKDIR /pkgs/curobo
+
 # Optionally install nvblox:
 
 RUN apt-get update && \
-    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
+    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev libbenchmark-dev && \
     cd /usr/src/googletest && cmake . && cmake --build . --target install && \
     rm -rf /var/lib/apt/lists/*
 
@@ -164,5 +169,9 @@ RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git && \
 
 RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
     cd nvblox_torch && \
-    sh install.sh
+    sh install.sh $(python -c 'import torch.utils; print(torch.utils.cmake_prefix_path)')
+  
+RUN python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
+# upgrade typing extensions:
+RUN python3 -m pip install typing-extensions --upgrade
\ No newline at end of file
diff --git a/docker/isaac_sim.dockerfile b/docker/isaac_sim.dockerfile
index d5a244b7..90c6b84c 100644
--- a/docker/isaac_sim.dockerfile
+++ b/docker/isaac_sim.dockerfile
@@ -159,6 +159,10 @@ ENV omni_python='/isaac-sim/python.sh'
 
 RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /.bashrc
 
+
+# Add cache date to avoid using cached layers older than this
+ARG CACHE_DATE=2023-12-15 
+
 RUN $omni_python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
 # if you want to use a different version of curobo, create folder as docker/pkgs and put your
@@ -174,6 +178,8 @@ RUN $omni_python -m pip install ninja wheel tomli
 
 RUN cd /pkgs/curobo && $omni_python -m pip install .[dev] --no-build-isolation
 
+WORKDIR /pkgs/curobo
+
 # Optionally install nvblox:
 
 RUN apt-get update && \
@@ -246,4 +252,5 @@ RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
 # install realsense for nvblox demos:
 RUN $omni_python -m pip install pyrealsense2 opencv-python transforms3d
 
+RUN $omni_python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
diff --git a/docker/x86.dockerfile b/docker/x86.dockerfile
index 54f07af3..91562936 100644
--- a/docker/x86.dockerfile
+++ b/docker/x86.dockerfile
@@ -77,6 +77,9 @@ ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"
 ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
 ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"
 
+# Add cache date to avoid using cached layers older than this
+ARG CACHE_DATE=2023-12-15 
+
 
 RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
@@ -103,7 +106,7 @@ ENV PYOPENGL_PLATFORM=egl
 RUN echo '{"file_format_version": "1.0.0", "ICD": {"library_path": "libEGL_nvidia.so.0"}}' >> /usr/share/glvnd/egl_vendor.d/10_nvidia.json
 
 RUN apt-get update && \
-    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev && \
+    apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev libbenchmark-dev && \
     cd /usr/src/googletest && cmake . && cmake --build . --target install && \
     rm -rf /var/lib/apt/lists/*
 
@@ -115,6 +118,10 @@ RUN cd /pkgs &&  git clone https://github.com/valtsblukis/nvblox.git && \
 
 RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
     cd nvblox_torch && \
-    sh install.sh
+    sh install.sh $(python -c 'import torch.utils; print(torch.utils.cmake_prefix_path)') && \
+    python3 -m pip install -e .
 
 RUN python -m pip install pyrealsense2 opencv-python transforms3d
+
+# install benchmarks:
+RUN python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
\ No newline at end of file