diff --git a/.github/workflows/build-gazebo-world-ws.yaml b/.github/workflows/build-gazebo-world-ws.yaml
index a83c344c..9f0dac07 100644
--- a/.github/workflows/build-gazebo-world-ws.yaml
+++ b/.github/workflows/build-gazebo-world-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for gazebo-world-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-gazebo-world-ws.yaml
-      - gazebo_world_ws/docker/Dockerfile
-      - gazebo_world_ws/docker/.dockerignore
-      - gazebo_world_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-gazebo-world-ws.yaml
+            - gazebo_world_ws/docker/Dockerfile
+            - gazebo_world_ws/docker/.dockerignore
+            - gazebo_world_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -42,6 +71,8 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
@@ -57,9 +88,14 @@ jobs:
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
       - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: gazebo_world_ws/docker
+          cache-from: j3soon/ros2-template-ws
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-template-ws.yaml b/.github/workflows/build-template-ws.yaml
index bc6963a1..c4e94ec5 100644
--- a/.github/workflows/build-template-ws.yaml
+++ b/.github/workflows/build-template-ws.yaml
@@ -6,16 +6,49 @@ on:
       - "main"
     tags:
       - v*
-    paths:
-      - .github/workflows/build-template-ws.yaml
-      - template_ws/docker/Dockerfile
-      - template_ws/docker/.dockerignore
-      - template_ws/docker/.bashrc
 
 jobs:
-  docker:
+  paths-filter:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        filters: |
+          results:
+            - .github/workflows/build-template-ws.yaml
+            - template_ws/docker/Dockerfile
+            - template_ws/docker/.dockerignore
+            - template_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Save base ref info
+      run: |
+        BASE=${{ github.event.before }}
+        CURRENT_BRANCH=${{ github.ref }}
+        echo $BASE > base.txt
+        echo $CURRENT_BRANCH > current-branch.txt
+    - name: Upload base ref info
+      uses: actions/upload-artifact@v4
+      with:
+        name: original-refs
+        path: |
+          base.txt
+          current-branch.txt
+        retention-days: 1
+  docker:
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
+    runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
         uses: easimon/maximize-build-space@master