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Internet access is required.

Reference: https://docs.docker.com/install/linux/docker-ce/ubuntu/

The following instructions have been tested on Ubuntu 18.04.

Add the Docker repository into your Ubuntu host

sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable"  
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -  
sudo apt-get update && sudo apt install docker-ce docker-ce-cli containerd.io

Install NVIDIA Docker Runtime

Instructions from https://nvidia.github.io/nvidia-container-runtime/

curl -s -L https://nvidia.github.io/nvidia-container-runtime/gpgkey | \  
  sudo apt-key add -
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt-get update
sudo apt-get install nvidia-container-runtime

The edit the docker config to limit / allow users in docker group membership to run Docker containers

sudo systemctl edit docker

This is the content

[Service]
ExecStart=
ExecStart=/usr/bin/dockerd --group docker -H unix:///var/run/docker.sock --add-runtime=nvidia=/usr/bin/nvidia-container-runtime

Then restart the InitD daemon and restart Docker

sudo systemctl daemon-reload
sudo systemctl restart docker