diff --git a/.github/workflows/docker-build.yml b/.github/workflows/docker-build.yml
index f9fbce4..8d9d88a 100644
--- a/.github/workflows/docker-build.yml
+++ b/.github/workflows/docker-build.yml
@@ -1,18 +1,42 @@
 name: Docker Build
-
 on:
   push:
-    branches: [ main, master ]  # Adjust based on your primary branch name
+    branches: [ main, devel ]
   pull_request:
-    branches: [ main, master ]
-
+    branches: [ main, devel ]
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     
     steps:
     - name: Checkout code
       uses: actions/checkout@v3
+         
+    - name: Configure Docker to use extra disk space
+      run: |
+        echo "Disk space before reconfiguration:"
+        df -h
+        
+        # Stop Docker service
+        sudo systemctl stop docker
+        
+        # Create new Docker data directory on the secondary disk
+        sudo mkdir -p /mnt/docker
+        
+        # Configure Docker to use the new location
+        echo '{
+          "data-root": "/mnt/docker"
+        }' | sudo tee /etc/docker/daemon.json
+        
+        # Restart Docker service
+        sudo systemctl start docker
+        sudo systemctl status docker
+        
+        echo "Disk space after reconfiguration:"
+        df -h
+        
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
       
     - name: Print Docker and Docker Compose versions
       run: |
@@ -23,9 +47,21 @@ jobs:
         echo "System info:"
         uname -a
         
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v2
-      
+    - name: Free up disk space
+      run: |
+        echo "Disk space before cleanup:"
+        df -h
+        # Remove unnecessary large packages
+        # sudo rm -rf /usr/share/dotnet
+        # sudo rm -rf /usr/local/lib/android
+        # sudo rm -rf /opt/ghc
+        # sudo rm -rf /opt/hostedtoolcache
+        # sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+        # sudo apt-get autoremove -y
+        # sudo apt-get clean
+        echo "Disk space after cleanup:"
+        df -h   
+        
     - name: List files in directory
       run: |
         echo "Repository contents:"
@@ -35,20 +71,18 @@ jobs:
       
     - name: Build with Docker Compose
       run: |
+        # Create a temporary directory on the secondary disk for any build artifacts
+        sudo mkdir -p /mnt/build-tmp
+        sudo chown $USER:$USER /mnt/build-tmp
+        
         echo "Starting Docker Compose build..."
-        docker compose build --progress=plain
+        # Use DOCKER_BUILDKIT=1 for more efficient builds
+        DOCKER_BUILDKIT=1 docker compose build --progress=plain
         echo "Docker Compose build completed successfully!"
         
     - name: List built images
       run: |
         echo "Built Docker images:"
         docker images
-        
-    # Optional - Add a test step that runs your container
-    # - name: Test container
-    #   run: |
-    #     docker compose up -d
-    #     echo "Container is running. Docker status:"
-    #     docker ps
-    #     # Add any test commands here
-    #     docker compose down
+        echo "Disk usage:"
+        df -h
diff --git a/Dockerfile b/Dockerfile
index 7acf22a..ddb863b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -51,6 +51,7 @@ RUN apt update && apt install -y --no-install-recommends \
     python-is-python3\
     libjpeg-dev libglm-dev libgl1-mesa-glx libegl1-mesa-dev mesa-utils xorg-dev freeglut3-dev \
     unzip &&\
+    apt-get clean all &&\
     rm -rf /var/lib/apt/lists/*
 
 # #
diff --git a/README.md b/README.md
index e9c19c7..e2a2a8c 100644
--- a/README.md
+++ b/README.md
@@ -12,8 +12,11 @@
     <a href="https://www.finnbusch.com/OneMap/">Project Website</a> , <a href="https://arxiv.org/pdf/2409.11764">Paper (arXiv)</a>
   </p>
 </p>
-[![Docker Build](https://github.com/KTH-RPL/OneMap/actions/workflows/docker-build.yml/badge.svg)](https://github.com/KTH-RPL/OneMap/actions/workflows/docker-build.yml)
-
+<p align="center">
+  <a href="https://github.com/KTH-RPL/OneMap/actions/workflows/docker-build.yml">
+    <img src="https://github.com/KTH-RPL/OneMap/actions/workflows/docker-build.yml/badge.svg" alt="Docker Build">
+  </a>
+</p>
 
 This repository contains the code for the paper "One Map to Find Them All: Real-time Open-Vocabulary Mapping for
 Zero-shot Multi-Object Navigation". We provide a [dockerized environment](#setup-docker) to run the code or