From 85eb9530b7a5540687183c07496d5460b8170408 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 07:52:08 +0200
Subject: [PATCH 01/19] SBSA support

---
 .github/workflows/documentation.yml   |  2 +-
 .github/workflows/macos.yml           | 20 +++---
 .github/workflows/style.yml           |  4 +-
 .github/workflows/ubuntu-cuda.yml     |  2 +-
 .github/workflows/ubuntu-openblas.yml |  4 +-
 .github/workflows/ubuntu-sycl.yml     |  2 +-
 .github/workflows/ubuntu-wheel.yml    | 90 +++++++++++++++++++++++++--
 .github/workflows/ubuntu.yml          |  2 +-
 .github/workflows/vtk_packages.yml    |  6 +-
 .github/workflows/webrtc.yml          |  8 +--
 .github/workflows/windows.yml         | 24 +++----
 docker/Dockerfile.wheel               |  2 +-
 docker/README.md                      |  2 +-
 docker/docker_build.sh                | 30 ++++++++-
 docker/docker_test.sh                 |  6 ++
 util/ci_utils.sh                      |  6 +-
 util/install_deps_ubuntu.sh           |  5 ++
 17 files changed, 165 insertions(+), 50 deletions(-)

diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index e6ddcc54fef..8461e857d13 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -27,7 +27,7 @@ jobs:
       DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
     steps:
       - name: Checkout Open3D source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Maximize build space
         run: |
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index f8ba7dbd484..9c19abac9b3 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -41,9 +41,9 @@ jobs:
       BUILD_PYTORCH_OPS: 'ON'
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Setup cache
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
@@ -57,7 +57,7 @@ jobs:
             ${{ runner.os }}-${{ runner.arch }}-ccache
 
       - name: Set up Python version
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
 
@@ -148,17 +148,17 @@ jobs:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
           path: ${{ env.OPEN3D_ML_ROOT }}
 
       - name: Setup cache
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           # Ref: https://github.com/apache/incubator-mxnet/pull/18459/files
           path: ~/.ccache
@@ -172,7 +172,7 @@ jobs:
             ${{ runner.os }}-${{ runner.arch }}-ccache
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -251,10 +251,10 @@ jobs:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
@@ -267,7 +267,7 @@ jobs:
           merge-multiple: true
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python_version }}
 
diff --git a/.github/workflows/style.yml b/.github/workflows/style.yml
index 686a73419a6..251cc3711ba 100644
--- a/.github/workflows/style.yml
+++ b/.github/workflows/style.yml
@@ -19,13 +19,13 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: ${{ github.event.pull_request.head.repo.full_name || github.repository }}
           ref: ${{ github.event.pull_request.head.ref || github.ref }}
           token: ${{ secrets.GITHUB_TOKEN }}
       - name: Set up Python version
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
       - name: Install dependencies
diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index cfd9d62945e..6ae63ea295f 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -67,7 +67,7 @@ jobs:
       CCACHE_TAR_NAME    : open3d-ci-${{ matrix.CI_CONFIG }}
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           submodules: 'false'
       - name: Package code
diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
index dc625dd4c9e..25081949a74 100644
--- a/.github/workflows/ubuntu-openblas.yml
+++ b/.github/workflows/ubuntu-openblas.yml
@@ -22,7 +22,7 @@ jobs:
       fail-fast: false
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -59,7 +59,7 @@ jobs:
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index 3f9ca4edf71..27f61dec615 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -33,7 +33,7 @@ jobs:
         BUILD_SHARED_LIBS: [ON, OFF]
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index e8a340e5d8f..2653d245f3b 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -53,7 +53,7 @@ jobs:
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
@@ -120,6 +120,86 @@ jobs:
         run: |
           gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.xz gs://open3d-ci-cache/
 
+  build-wheel-sbsa:
+    permissions:
+      contents: write  # Release upload
+    name: Build wheel SBSA
+    runs-on: ubuntu-24.04-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        python_version: ['3.10', '3.11', '3.12', '3.13', '3.14']
+        is_main:
+          - ${{ github.ref == 'refs/heads/main' }}
+        exclude:
+          - is_main: false
+            python_version: '3.10'
+          - is_main: false
+            python_version: '3.11'
+          - is_main: false
+            python_version: '3.12'
+          - is_main: false
+            python_version: '3.13'
+    env:
+      DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      CCACHE_TAR_NAME: open3d-ubuntu-2204-cuda-sbsa-ci-ccache
+      OPEN3D_CPU_RENDERING: true
+      BUILD_PYTORCH_OPS: 'ON'
+      # TensorFlow v2.20 only supports python 3.9-3.13
+      BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
+    steps:
+      - name: Checkout source code
+        uses: actions/checkout@v6
+      - name: Maximize build space
+        run: |
+          source util/ci_utils.sh
+          maximize_ubuntu_github_actions_build_space
+      - name: Docker build
+        run: |
+          PY_NO_DOT="${PYTHON_VERSION//./}"
+          DEV_SUFFIX=""
+          if [ "${DEVELOPER_BUILD}" = "ON" ]; then
+            DEV_SUFFIX="_dev"
+          fi
+          docker/docker_build.sh "cuda_wheel_py${PY_NO_DOT}${DEV_SUFFIX}"
+          shopt -s failglob
+          PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
+          PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
+          echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
+          echo "PIP_CPU_PKG_NAME=$PIP_CPU_PKG_NAME" >> $GITHUB_ENV
+      - name: Upload wheel to GitHub artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.PIP_PKG_NAME }}
+          path: |
+            ${{ env.PIP_PKG_NAME }}
+            ${{ env.PIP_CPU_PKG_NAME }}
+          if-no-files-found: error
+      - name: Update devel release
+        if: ${{ github.ref == 'refs/heads/main' }}
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          .github/workflows/update_release.sh ${GITHUB_WORKSPACE}/${{ env.PIP_PKG_NAME }} \
+          ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }}
+      - name: GCloud CLI auth
+        if: ${{ github.ref == 'refs/heads/main' }}
+        uses: 'google-github-actions/auth@v2'
+        with:
+          project_id: ${{ secrets.GCE_PROJECT }}
+          credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
+      - name: GCloud CLI setup
+        if: ${{ github.ref == 'refs/heads/main' }}
+        uses: google-github-actions/setup-gcloud@v2
+        with:
+          version: ${{ env.GCE_CLI_GHA_VERSION }}
+          project_id: ${{ secrets.GCE_PROJECT }}
+      - name: Upload ccache to GCS
+        if: ${{ github.ref == 'refs/heads/main' }}
+        run: |
+          gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.xz gs://open3d-ci-cache/
+
   test-wheel-cpu:
     name: Test wheel CPU
     permissions:
@@ -148,13 +228,13 @@ jobs:
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
           maximize_ubuntu_github_actions_build_space
       - name: Checkout Open3D-ML source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
@@ -162,10 +242,10 @@ jobs:
       - name: Download wheels
         uses: actions/download-artifact@v4
         with:
-          pattern: open3d*-manylinux*.whl
+          pattern: open3d*-manylinux*x86_64*.whl
           merge-multiple: true
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python_version }}
       - name: Test Python package
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index e7e27444ca2..e1831af236f 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -35,7 +35,7 @@ jobs:
       OPEN3D_CPU_RENDERING: true
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Maximize build space
         run: |
           source util/ci_utils.sh
diff --git a/.github/workflows/vtk_packages.yml b/.github/workflows/vtk_packages.yml
index f447193a5bd..9be02472ac3 100644
--- a/.github/workflows/vtk_packages.yml
+++ b/.github/workflows/vtk_packages.yml
@@ -14,7 +14,7 @@ jobs:
     runs-on: ubuntu-20.04
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: CMake configure
         run: |
           mkdir build
@@ -56,7 +56,7 @@ jobs:
       - name: Disk space used
         run: Get-PSDrive
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Config
         # Move build directory to C: https://github.com/actions/virtual-environments/issues/1341
         run: |
@@ -95,7 +95,7 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: CMake configure
         run: |
           mkdir build
diff --git a/.github/workflows/webrtc.yml b/.github/workflows/webrtc.yml
index 45b27363ebc..1f192cbfff4 100644
--- a/.github/workflows/webrtc.yml
+++ b/.github/workflows/webrtc.yml
@@ -34,10 +34,10 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Set up Python version
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: 3.10
 
@@ -80,10 +80,10 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Set up Python version
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.10'
 
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index a375bea818b..73f9d30dfba 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -27,8 +27,8 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PIP_VER: "24.3.1"
-  CUDA_VERSION: "12.6.0"
+  PIP_VER: "26.1"
+  CUDA_VERSION: "13.2.2"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 6
@@ -93,15 +93,15 @@ jobs:
           echo "$CUDA_PATH\bin" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append
 
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Set up Python version
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
 
       - name: Checkout Open3D-ML
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu126
+            python -m pip install torch==2.12.0 torchvision==0.27.0 --index-url https://download.pytorch.org/whl/cu132
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }
@@ -277,17 +277,17 @@ jobs:
 
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Checkout Open3D-ML
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
           path: open3d_ml
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python_version }}
 
@@ -377,10 +377,10 @@ jobs:
       BUILD_PYTORCH_OPS: 'ON'
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
 
       - name: Checkout Open3D-ML
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: isl-org/Open3D-ML
           ref: main
@@ -393,7 +393,7 @@ jobs:
           merge-multiple: true
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python_version }}
 
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index afbc45be5cb..a14e047a663 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -1,5 +1,5 @@
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
-ARG BASE_IMAGE=nvidia/cuda:12.6.3-cudnn-devel-ubuntu22.04
+ARG BASE_IMAGE=nvidia/cuda:13.2.2-cudnn-devel-ubuntu22.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml
diff --git a/docker/README.md b/docker/README.md
index 8ba3617f73b..dc608cccc8a 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -29,7 +29,7 @@ to install Nvidia Docker to run the CUDA container.
 To verify that the Nvidia Docker is working, run:
 
 ```bash
-docker run --rm --gpus all nvidia/cuda:12.1-base nvidia-smi
+docker run --rm --gpus all nvidia/cuda:13.2.1-cudnn-devel-ubuntu22.04 nvidia-smi
 ```
 
 ### ARM64 Docker
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index 3eb2c188c3a..bec3f7e651d 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -61,6 +61,7 @@ OPTION:
     3-ml-shared-jammy-release : CUDA CI, 3-ml-shared-jammy (cxx11_abi), release mode
     3-ml-shared-jammy         : CUDA CI, 3-ml-shared-jammy (cxx11_abi), developer mode
     5-ml-noble                : CUDA CI, 5-ml-noble, developer mode
+    5-ml-noble-sbsa           : CUDA SBSA CI, 5-ml-noble-sbsa, developer mode
 
     # CUDA wheels (Dockerfile.wheel)
     cuda_wheel_py310_dev       : CUDA Python 3.10 wheel, developer mode
@@ -81,8 +82,8 @@ HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pw
 AARCH="$(uname -m)"
 # do cmake pending on the architecture
 CMAKE_VERSION=cmake-3.31.8-linux-${AARCH}
-CUDA_VERSION=12.6.3-cudnn
-CUDA_VERSION_LATEST=12.6.3-cudnn
+CUDA_VERSION=13.2.2-cudnn
+CUDA_VERSION_LATEST=13.2.2-cudnn
 
 print_usage_and_exit_docker_build() {
     echo "$__usage_docker_build"
@@ -176,7 +177,11 @@ openblas_build() {
 
 cuda_wheel_build() {
     BASE_IMAGE=nvidia/cuda:${CUDA_VERSION}-devel-ubuntu22.04
-    CCACHE_TAR_NAME=open3d-ubuntu-2204-cuda-ci-ccache
+    if [[ "${AARCH}" == "aarch64" || "${AARCH}" == "arm64" ]]; then
+        CCACHE_TAR_NAME=open3d-ubuntu-2204-cuda-sbsa-ci-ccache
+    else
+        CCACHE_TAR_NAME=open3d-ubuntu-2204-cuda-ci-ccache
+    fi
 
     options="$(echo "$@" | tr ' ' '|')"
     echo "[cuda_wheel_build()] options: ${options}"
@@ -323,6 +328,21 @@ ci_build() {
     export BUILD_SYCL_MODULE=OFF
 }
 
+5-ml-noble-sbsa_export_env() {
+    export DOCKER_TAG=open3d-ci:5-ml-noble-sbsa
+
+    export BASE_IMAGE=nvidia/cuda:${CUDA_VERSION_LATEST}-devel-ubuntu22.04
+    export DEVELOPER_BUILD=ON
+    export CCACHE_TAR_NAME=open3d-ci-5-ml-noble-sbsa
+    export PYTHON_VERSION=3.12
+    export BUILD_SHARED_LIBS=OFF
+    export BUILD_CUDA_MODULE=ON
+    export BUILD_TENSORFLOW_OPS=ON
+    export BUILD_PYTORCH_OPS=ON
+    export PACKAGE=OFF
+    export BUILD_SYCL_MODULE=OFF
+}
+
 cpu-static_export_env() {
     export DOCKER_TAG=open3d-ci:cpu-static
 
@@ -593,6 +613,10 @@ function main() {
         5-ml-noble_export_env
         ci_build
         ;;
+    5-ml-noble-sbsa)
+        5-ml-noble-sbsa_export_env
+        ci_build
+        ;;
     *)
         echo "Error: invalid argument: ${1}." >&2
         print_usage_and_exit_docker_build
diff --git a/docker/docker_test.sh b/docker/docker_test.sh
index c454f9a96c7..75f6d66d86e 100755
--- a/docker/docker_test.sh
+++ b/docker/docker_test.sh
@@ -54,6 +54,7 @@ OPTION:
     3-ml-shared-jammy-release : CUDA CI, 3-ml-shared-jammy (cxx11_abi), release mode
     3-ml-shared-jammy         : CUDA CI, 3-ml-shared-jammy (cxx11_abi), developer mode
     5-ml-noble                : CUDA CI, 5-ml-noble, developer mode
+    5-ml-noble-sbsa           : CUDA SBSA CI, 5-ml-noble-sbsa, developer mode
 "
 
 HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pwd)"
@@ -368,6 +369,11 @@ sycl-static)
     ci_print_env
     cpp_python_linking_uninstall_test
     ;;
+5-ml-noble-sbsa)
+    5-ml-noble-sbsa_export_env
+    ci_print_env
+    cpp_python_linking_uninstall_test
+    ;;
 *)
     echo "Error: invalid argument: ${1}." >&2
     print_usage_and_exit_docker_test
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 092ae3e103a..2366bfc3e95 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -27,11 +27,11 @@ BUILD_SYCL_MODULE=${BUILD_SYCL_MODULE:-OFF}
 # Dependency versions:
 # CUDA: see docker/docker_build.sh
 # ML
-TENSORFLOW_VER="2.20.0"
-TORCH_VER="2.10"
+TENSORFLOW_VER="2.21.0"
+TORCH_VER="2.12"
 TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
-PIP_VER="25.3"
+PIP_VER="26.1"
 PROTOBUF_VER="6.31.1"
 
 OPEN3D_INSTALL_DIR=~/open3d_install
diff --git a/util/install_deps_ubuntu.sh b/util/install_deps_ubuntu.sh
index 53ca2befb7c..e02e6523602 100755
--- a/util/install_deps_ubuntu.sh
+++ b/util/install_deps_ubuntu.sh
@@ -66,6 +66,11 @@ if [ "$DISTRIB_ID" == "Ubuntu" -a "$DISTRIB_RELEASE" == "24.04" ]; then
     deps=("${deps[@]/libc++-dev/libc++-14-dev}")
     deps=("${deps[@]/libc++abi-dev/libc++abi-14-dev}")
 fi
+if [ "$DISTRIB_ID" == "Ubuntu" -a "$DISTRIB_RELEASE" == "26.04" ]; then
+    deps=("${deps[@]/clang/clang-15}")
+    deps=("${deps[@]/libc++-dev/libc++-15-dev}")
+    deps=("${deps[@]/libc++abi-dev/libc++abi-15-dev}")
+fi
 
 # Special case for ARM64
 if [ "$(uname -m)" == "aarch64" ]; then

From 870a69a134887882507c5632114b18a23930d40b Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 07:54:44 +0200
Subject: [PATCH 02/19] SBSA support

---
 .github/workflows/windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 73f9d30dfba..9e619ec7de2 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch==2.12.0 torchvision==0.27.0 --index-url https://download.pytorch.org/whl/cu132
+            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu132
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }

From b54de5889712ce5850f2d015e51bad8fcb686a5c Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 08:03:26 +0200
Subject: [PATCH 03/19] SBSA support

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cdf555b0d11..5802a31707d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,5 @@
 ## Main
+-   Upgrade CUDA CI to 13.2.2 and add CUDA SBSA Docker and wheel builds on Ubuntu ARM runners.
 -   Upgrade stdgpu third-party library to commit d7c07d0.
 -   Fix performance for non-contiguous NumPy array conversion in pybind vector converters. This change removes restrictive `py::array::c_style` flags and adds a runtime contiguity check, improving Pandas-to-Open3D conversion speed by up to ~50×. (issue #5250)(PR #7343).
 -   Corrected documentation for Link Open3D in C++ projects (broken links).

From 60c95fa95797123142aaf999cfcc51bda825cdd8 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 08:51:40 +0200
Subject: [PATCH 04/19] SBSA support

---
 .github/workflows/update_release.sh | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/update_release.sh b/.github/workflows/update_release.sh
index dc55afc70d7..3ad49e8ce24 100755
--- a/.github/workflows/update_release.sh
+++ b/.github/workflows/update_release.sh
@@ -1,6 +1,11 @@
 #!/bin/bash
 set -euo pipefail
 
+repo_args=()
+if [[ -n "${GITHUB_REPOSITORY:-}" ]]; then
+    repo_args=(--repo "$GITHUB_REPOSITORY")
+fi
+
 for artifact in "$@"; do
     # extract filename supporting both POSIX and Windows-style paths
     # normalize backslashes to forward slashes for safe filename extraction
@@ -10,18 +15,18 @@ for artifact in "$@"; do
 
     echo "Uploading $filename (pattern: $pattern)"
     # use normalized path for upload so single backslashes in Windows paths work
-    gh release upload main-devel "$norm_path" --clobber
+    gh release upload "${repo_args[@]}" main-devel "$norm_path" --clobber
 
-    for old_asset in $(gh release view main-devel --json assets --jq '.assets[] | .name' || echo ""); do
+    for old_asset in $(gh release view "${repo_args[@]}" main-devel --json assets --jq '.assets[] | .name' || echo ""); do
         # shellcheck disable=SC2254
         case "$old_asset" in
             $pattern)
                 if [[ "$old_asset" != "$filename" ]]; then
                     echo "Deleting old asset: $old_asset"
-                    gh release delete-asset main-devel "$old_asset" -y || true
+                    gh release delete-asset "${repo_args[@]}" main-devel "$old_asset" -y || true
                 fi
                 ;;
         esac
     done
 done
-gh release view main-devel
+gh release view "${repo_args[@]}" main-devel

From 58985ea75710b26593c778f59a2cb9973d5d4338 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 09:00:38 +0200
Subject: [PATCH 05/19] downgrade to 13.2.1 (waiting for cuda 13.2.2)

---
 .github/workflows/windows.yml | 2 +-
 CHANGELOG.md                  | 2 +-
 docker/Dockerfile.wheel       | 2 +-
 docker/docker_build.sh        | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 9e619ec7de2..259b47cb4aa 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -28,7 +28,7 @@ concurrency:
 
 env:
   PIP_VER: "26.1"
-  CUDA_VERSION: "13.2.2"
+  CUDA_VERSION: "13.2.1"
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 6
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5802a31707d..95caf64487c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,5 @@
 ## Main
--   Upgrade CUDA CI to 13.2.2 and add CUDA SBSA Docker and wheel builds on Ubuntu ARM runners.
+-   Upgrade CUDA CI to 13.2.1 and add CUDA SBSA Docker and wheel builds on Ubuntu ARM runners.
 -   Upgrade stdgpu third-party library to commit d7c07d0.
 -   Fix performance for non-contiguous NumPy array conversion in pybind vector converters. This change removes restrictive `py::array::c_style` flags and adds a runtime contiguity check, improving Pandas-to-Open3D conversion speed by up to ~50×. (issue #5250)(PR #7343).
 -   Corrected documentation for Link Open3D in C++ projects (broken links).
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index a14e047a663..dbd2ad912b2 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -1,5 +1,5 @@
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
-ARG BASE_IMAGE=nvidia/cuda:13.2.2-cudnn-devel-ubuntu22.04
+ARG BASE_IMAGE=nvidia/cuda:13.2.1-cudnn-devel-ubuntu22.04
 FROM ${BASE_IMAGE}
 
 # Customizable build arguments from cuda.yml
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index bec3f7e651d..bb41ab46df5 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -82,8 +82,8 @@ HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pw
 AARCH="$(uname -m)"
 # do cmake pending on the architecture
 CMAKE_VERSION=cmake-3.31.8-linux-${AARCH}
-CUDA_VERSION=13.2.2-cudnn
-CUDA_VERSION_LATEST=13.2.2-cudnn
+CUDA_VERSION=13.2.1-cudnn
+CUDA_VERSION_LATEST=13.2.1-cudnn
 
 print_usage_and_exit_docker_build() {
     echo "$__usage_docker_build"

From 29c116b199f7605a0b53142f28ee7324a1f95619 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 09:13:59 +0200
Subject: [PATCH 06/19] test

---
 .github/workflows/windows.yml | 2 +-
 util/ci_utils.sh              | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 259b47cb4aa..4a1672e2523 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu132
+            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/test/cu132
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 2366bfc3e95..e0bc08ecd7c 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -29,7 +29,7 @@ BUILD_SYCL_MODULE=${BUILD_SYCL_MODULE:-OFF}
 # ML
 TENSORFLOW_VER="2.21.0"
 TORCH_VER="2.12"
-TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
+TORCH_REPO_URL="https://download.pytorch.org/whl/test/"
 # Python
 PIP_VER="26.1"
 PROTOBUF_VER="6.31.1"

From 3d1703b488b401e9716228ba63384dd8b0a547f2 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 09:23:33 +0200
Subject: [PATCH 07/19] test

---
 util/ci_utils.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index e0bc08ecd7c..3ea48c4517c 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -29,7 +29,7 @@ BUILD_SYCL_MODULE=${BUILD_SYCL_MODULE:-OFF}
 # ML
 TENSORFLOW_VER="2.21.0"
 TORCH_VER="2.12"
-TORCH_REPO_URL="https://download.pytorch.org/whl/test/"
+TORCH_REPO_URL="https://download.pytorch.org/whl/test/torch/"
 # Python
 PIP_VER="26.1"
 PROTOBUF_VER="6.31.1"

From 0e5d71f982d1c8b10d08a85506c068d904c40366 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 09:55:42 +0200
Subject: [PATCH 08/19] fix webrtc

---
 .github/workflows/documentation.yml   |  2 +-
 .github/workflows/macos.yml           |  6 ++--
 .github/workflows/ubuntu-cuda.yml     |  2 +-
 .github/workflows/ubuntu-openblas.yml |  2 +-
 .github/workflows/ubuntu-sycl.yml     |  2 +-
 .github/workflows/ubuntu-wheel.yml    |  4 +--
 .github/workflows/ubuntu.yml          |  4 +--
 .github/workflows/vtk_packages.yml    |  6 ++--
 .github/workflows/webrtc.yml          | 12 +++----
 .github/workflows/windows.yml         |  6 ++--
 3rdparty/webrtc/Dockerfile.webrtc     | 10 ++++--
 3rdparty/webrtc/README.md             |  5 +--
 3rdparty/webrtc/webrtc_build.sh       | 50 +++++++++++++++++----------
 3rdparty/webrtc/webrtc_common.cmake   | 20 +++++++----
 3rdparty/webrtc/webrtc_download.cmake |  4 +++
 CMakeLists.txt                        |  3 --
 docker/Dockerfile.wheel               |  3 +-
 util/ci_utils.sh                      | 11 ++++--
 18 files changed, 93 insertions(+), 59 deletions(-)

diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index 8461e857d13..7d4a71401a4 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -50,7 +50,7 @@ jobs:
           mv open3d-*-docs.tar.gz open3d-${GITHUB_SHA}-docs.tar.gz
 
       - name: Upload docs
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-${{ github.sha }}-docs
           path: open3d-${{ github.sha }}-docs.tar.gz
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 9c19abac9b3..0ff118fa281 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -92,14 +92,14 @@ jobs:
 
       - name: Upload package
         if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.DEVEL_PKG_NAME }}
           path: build/package/${{ env.DEVEL_PKG_NAME }}
           if-no-files-found: error
 
       - name: Upload Open3D viewer app
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
         with:
           name: open3d-app-macosx-10_15-${{ runner.arch}}
@@ -206,7 +206,7 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
 
       - name: Upload wheel
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.PIP_PKG_NAME }}
           path: build/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index 6ae63ea295f..83de00636eb 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -153,7 +153,7 @@ jobs:
 
       - name: Upload package
         if: ${{ env.BUILD_PACKAGE == 'true' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-devel-linux-x86_64-cuda-${{ matrix.CI_CONFIG }}
           path: open3d-devel-linux*.tar.xz
diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
index 25081949a74..a4f294f9a2d 100644
--- a/.github/workflows/ubuntu-openblas.yml
+++ b/.github/workflows/ubuntu-openblas.yml
@@ -84,7 +84,7 @@ jobs:
         run: docker/docker_test.sh "${DOCKER_TAG}"
 
       - name: Upload wheel to GitHub artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           path: ${{ env.PIP_PKG_NAME }}
           name: ${{ env.PIP_PKG_NAME }}
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index 27f61dec615..96f0467bac0 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -56,7 +56,7 @@ jobs:
 
       - name: Upload Python wheel and C++ binary package to GitHub artifacts
         if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-sycl-linux-wheel-and-binary
           path: |
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index 2653d245f3b..bbc0fcfa463 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -89,7 +89,7 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
           echo "PIP_CPU_PKG_NAME=$PIP_CPU_PKG_NAME" >> $GITHUB_ENV
       - name: Upload wheel to GitHub artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.PIP_PKG_NAME }}
           path: |
@@ -169,7 +169,7 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
           echo "PIP_CPU_PKG_NAME=$PIP_CPU_PKG_NAME" >> $GITHUB_ENV
       - name: Upload wheel to GitHub artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.PIP_PKG_NAME }}
           path: |
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index e1831af236f..a871cf962d0 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -64,14 +64,14 @@ jobs:
           fi
       - name: Upload package to GitHub artifacts
         if: ${{ env.BUILD_SHARED_LIBS == 'ON' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-devel-linux-x86_64
           path: open3d-devel-*.tar.xz
           if-no-files-found: error
       - name: Upload viewer to GitHub artifacts
         if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-viewer-Linux
           path: open3d-viewer-*-Linux.deb
diff --git a/.github/workflows/vtk_packages.yml b/.github/workflows/vtk_packages.yml
index 9be02472ac3..9f0902d1bca 100644
--- a/.github/workflows/vtk_packages.yml
+++ b/.github/workflows/vtk_packages.yml
@@ -26,7 +26,7 @@ jobs:
           make -j$(nproc)
           cmake -E sha256sum vtk*.tar.gz > checksum_linux.txt
       - name: Upload artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: vtk_linux
           path: |
@@ -78,7 +78,7 @@ jobs:
           ls
           cmake -E sha256sum (get-item vtk*.tar.gz).Name > checksum_win_${{matrix.configuration}}.txt
       - name: Upload package
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: vtk_windows_${{matrix.configuration}}
           path: |
@@ -107,7 +107,7 @@ jobs:
           make -j2
           cmake -E sha256sum vtk*.tar.gz > checksum_macos.txt
       - name: Upload artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: vtk_macos
           path: |
diff --git a/.github/workflows/webrtc.yml b/.github/workflows/webrtc.yml
index 1f192cbfff4..831bb138f8a 100644
--- a/.github/workflows/webrtc.yml
+++ b/.github/workflows/webrtc.yml
@@ -7,11 +7,11 @@ on:
       webrtc_commit:
         description: 'Specify WebRTC commit to build.'
         required: false
-        default: '60e674842ebae283cc6b2627f4b6f2f8186f3317'  # Date: Wed Apr 7 19:12:13 2021 +0200
+        default: 'ffb74219ec3edff87b8bb9a88c1710dc7d2df97e'  # Upstream HEAD on 2026-05-04
       depot_tools_commit:
         description: 'Specify Depot Tools commit to to use for the build.'
         required: false
-        default: 'e1a98941d3ab10549be6d82d0686bb0fb91ec903' # Date: Wed Apr 7 21:35:29 2021 +0000
+        default: 'ff41874736c800b2f79aa8cf9596c7919066eb02' # Upstream HEAD on 2026-05-04
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
@@ -30,7 +30,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-13]
+        os: [ubuntu-24.04, ubuntu-24.04-arm, macos-14]
 
     steps:
       - name: Checkout source code
@@ -42,7 +42,7 @@ jobs:
           python-version: 3.10
 
       - name: Install dependencies
-        if: ${{ matrix.os == 'ubuntu-22.04' }}
+        if: ${{ startsWith(matrix.os, 'ubuntu-24.04') }}
         run: |
           source 3rdparty/webrtc/webrtc_build.sh
           install_dependencies_ubuntu
@@ -58,7 +58,7 @@ jobs:
           build_webrtc
 
       - name: Upload WebRTC
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: webrtc_release_${{ matrix.os }}
           path: |
@@ -166,7 +166,7 @@ jobs:
           cmake -E sha256sum webrtc_${env:WEBRTC_COMMIT_SHORT}_win.zip | Tee-Object -FilePath checksum_win.txt
 
       - name: Upload WebRTC
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: webrtc_release_windows
           path: |
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 4a1672e2523..3508b7718eb 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -166,7 +166,7 @@ jobs:
 
       - name: Upload Package
         if: ${{ matrix.BUILD_SHARED_LIBS == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.DEVEL_PKG_NAME }}
           path: ${{ env.BUILD_DIR }}/package/${{ env.DEVEL_PKG_NAME }}
@@ -193,7 +193,7 @@ jobs:
 
       - name: Upload Viewer
         if: ${{ matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' && matrix.BUILD_CUDA_MODULE == 'OFF' && matrix.CONFIG == 'Release' }}
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: open3d-app-windows-amd64
           path: C:\Program Files\Open3D\bin\Open3D
@@ -337,7 +337,7 @@ jobs:
           echo "PIP_PKG_NAME=$PIP_PKG_NAME"  | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
 
       - name: Upload wheel
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ env.PIP_PKG_NAME }}
           path: ${{ env.BUILD_DIR }}/lib/python_package/pip_package/${{ env.PIP_PKG_NAME }}
diff --git a/3rdparty/webrtc/Dockerfile.webrtc b/3rdparty/webrtc/Dockerfile.webrtc
index 8c127c97b6d..16770438f48 100644
--- a/3rdparty/webrtc/Dockerfile.webrtc
+++ b/3rdparty/webrtc/Dockerfile.webrtc
@@ -6,16 +6,22 @@
 #   - docker build --build-arg GLIBCXX_USE_CXX11_ABI=0 -t open3d-webrtc:abi0 \
 #       -f 3rdparty/webrtc/Dockerfile.webrtc .
 #   - docker run --rm --entrypoint cat open3d-webrtc:abi0 \
-#       webrtc_60e6748_cxx-abi-0.tar.gz > webrtc_60e6748_cxx-abi-0.tar.gz
+#       'webrtc_*_cxx-abi-0.tar.gz' > webrtc_cxx-abi-0.tar.gz
 # > GLIBCXX_USE_CXX11_ABI=1
 #   - docker build --build-arg GLIBCXX_USE_CXX11_ABI=1 -t open3d-webrtc:abi1 \
 #       -f 3rdparty/webrtc/Dockerfile.webrtc .
 #   - docker run --rm --entrypoint cat open3d-webrtc:abi1 \
-#       webrtc_60e6748_cxx-abi-1.tar.gz > webrtc_60e6748_cxx-abi-1.tar.gz
+#       'webrtc_*_cxx-abi-1.tar.gz' > webrtc_cxx-abi-1.tar.gz
 
 FROM ubuntu:22.04
 
 ARG SUDO=command
+ARG GLIBCXX_USE_CXX11_ABI=1
+ARG WEBRTC_COMMIT
+ARG DEPOT_TOOLS_COMMIT
+ENV GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI}
+ENV WEBRTC_COMMIT=${WEBRTC_COMMIT}
+ENV DEPOT_TOOLS_COMMIT=${DEPOT_TOOLS_COMMIT}
 COPY 3rdparty/webrtc 3rdparty/webrtc
 RUN bash -c "source 3rdparty/webrtc/webrtc_build.sh && install_dependencies_ubuntu purge-cache"
 RUN bash -c "source 3rdparty/webrtc/webrtc_build.sh && download_webrtc_sources"
diff --git a/3rdparty/webrtc/README.md b/3rdparty/webrtc/README.md
index eb54b078089..460675e2522 100644
--- a/3rdparty/webrtc/README.md
+++ b/3rdparty/webrtc/README.md
@@ -13,7 +13,7 @@ webrtc_download.cmake # Used by Open3D CMake. Consume pre-compiled WebRTC. (Meth
 webrtc_build.cmake    # Used by Open3D CMake. Build and consume WebRTC.    (Method 2)
 
 # Other files
-0001-xxx.patch x3     # Git patch for -DBUILD_WEBRTC_FROM_SOURCE=ON.       (Method 1 Prepare-Phase & Method 2)
+0001-xxx.patch x3     # Git patch for old-ABI WebRTC source builds.        (Method 1 Prepare-Phase & Method 2)
 CMakeLists.txt        # Used by `webrtc_build.sh` to compile WebRTC.       (Method 1 Prepare-Phase)
 Dockerfile.webrtc     # Calls `webrtc_build.sh` to compile WebRTC.         (Method 1 Prepare-Phase)
 webrtc_build.sh       # Used by `Dockerfile.webrtc`.                       (Method 1 Prepare-Phase)
@@ -53,7 +53,8 @@ need to build WebRTC manually.
    how to do that.
 2. `depot_tools` and `webrtc` need to be compatible, see:
    https://chromium.googlesource.com/chromium/src/+/master/docs/building_old_revisions.md
-3. Apply the following patch to enable GLIBCXX_USE_CXX11_ABI selection:
+3. For old-ABI builds (`GLIBCXX_USE_CXX11_ABI=0`), apply the following patches
+   to enable GLIBCXX_USE_CXX11_ABI selection:
    ```
    0001-build-enable-rtc_use_cxx11_abi-option.patch       # apply to webrtc/src
    0001-src-enable-rtc_use_cxx11_abi-option.patch         # apply to webrtc/src/build
diff --git a/3rdparty/webrtc/webrtc_build.sh b/3rdparty/webrtc/webrtc_build.sh
index b4e48f126b2..d4ad07a7287 100755
--- a/3rdparty/webrtc/webrtc_build.sh
+++ b/3rdparty/webrtc/webrtc_build.sh
@@ -27,19 +27,20 @@ set -euox pipefail
 # 2) depot_tools and webrtc have compatible versions, see:
 #    https://chromium.googlesource.com/chromium/src/+/master/docs/building_old_revisions.md
 #
-# 3) Apply the following patch to enable GLIBCXX_USE_CXX11_ABI selection:
+# 3) For old-ABI builds, apply the following patches to enable
+#    GLIBCXX_USE_CXX11_ABI selection:
 #    - 0001-build-enable-rtc_use_cxx11_abi-option.patch        # apply to webrtc/src
 #    - 0001-src-enable-rtc_use_cxx11_abi-option.patch          # apply to webrtc/src/build
 #    - 0001-third_party-enable-rtc_use_cxx11_abi-option.patch  # apply to webrtc/src/third_party
 #    Note that these patches may or may not be compatible with your custom
 #    WebRTC commits. You may have to patch them manually.
 
-# Date: Wed Apr 7 19:12:13 2021 +0200
-WEBRTC_COMMIT=${WEBRTC_COMMIT:-60e674842ebae283cc6b2627f4b6f2f8186f3317}
-# Date: Wed Apr 7 21:35:29 2021 +0000
-DEPOT_TOOLS_COMMIT=${DEPOT_TOOLS_COMMIT:-e1a98941d3ab10549be6d82d0686bb0fb91ec903}
+# Upstream HEAD on 2026-05-04
+WEBRTC_COMMIT=${WEBRTC_COMMIT:-ffb74219ec3edff87b8bb9a88c1710dc7d2df97e}
+# Upstream HEAD on 2026-05-04
+DEPOT_TOOLS_COMMIT=${DEPOT_TOOLS_COMMIT:-ff41874736c800b2f79aa8cf9596c7919066eb02}
 
-GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI:-0}
+GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI:-1}
 NPROC=${NPROC:-$(getconf _NPROCESSORS_ONLN)} # POSIX: MacOS + Linux
 SUDO=${SUDO:-sudo}                           # Set to command if running inside docker
 export PATH="$PWD/../depot_tools":${PATH}    # $(basename $PWD) == Open3D
@@ -48,7 +49,7 @@ export DEPOT_TOOLS_UPDATE=0
 install_dependencies_ubuntu() {
     options="$(echo "$@" | tr ' ' '|')"
     # Dependencies
-    # python*       : resolve ImportError: No module named pkg_resources
+    # python3*      : resolve ImportError: No module named pkg_resources
     # libglib2.0-dev: resolve pkg_config("glib")
     $SUDO apt-get update
     $SUDO apt-get install -y \
@@ -58,10 +59,11 @@ install_dependencies_ubuntu() {
         git \
         gnupg \
         libglib2.0-dev \
-        python \
-        python-pip \
-        python-setuptools \
-        python-wheel \
+        python-is-python3 \
+        python3 \
+        python3-pip \
+        python3-setuptools \
+        python3-wheel \
         software-properties-common \
         tree \
         curl
@@ -107,14 +109,18 @@ download_webrtc_sources() {
 build_webrtc() {
     # PWD=Open3D
     OPEN3D_DIR="$PWD"
-    echo Apply patches
     cp 3rdparty/webrtc/{CMakeLists.txt,webrtc_common.cmake} ../webrtc
-    git -C ../webrtc/src apply \
-        "$OPEN3D_DIR"/3rdparty/webrtc/0001-src-enable-rtc_use_cxx11_abi-option.patch
-    git -C ../webrtc/src/build apply \
-        "$OPEN3D_DIR"/3rdparty/webrtc/0001-build-enable-rtc_use_cxx11_abi-option.patch
-    git -C ../webrtc/src/third_party apply \
-        "$OPEN3D_DIR"/3rdparty/webrtc/0001-third_party-enable-rtc_use_cxx11_abi-option.patch
+    if [[ "${GLIBCXX_USE_CXX11_ABI}" == "0" ]]; then
+        echo Apply old-ABI patches
+        git -C ../webrtc/src apply \
+            "$OPEN3D_DIR"/3rdparty/webrtc/0001-src-enable-rtc_use_cxx11_abi-option.patch
+        git -C ../webrtc/src/build apply \
+            "$OPEN3D_DIR"/3rdparty/webrtc/0001-build-enable-rtc_use_cxx11_abi-option.patch
+        git -C ../webrtc/src/third_party apply \
+            "$OPEN3D_DIR"/3rdparty/webrtc/0001-third_party-enable-rtc_use_cxx11_abi-option.patch
+    else
+        echo Skip old-ABI patches
+    fi
     WEBRTC_COMMIT_SHORT=$(git -C ../webrtc/src rev-parse --short=7 HEAD)
 
     echo Build WebRTC
@@ -131,8 +137,14 @@ build_webrtc() {
 
     echo Package WebRTC
     if [[ $(uname -s) == 'Linux' ]]; then
+        WEBRTC_ARCH=$(uname -m)
+        if [[ "${WEBRTC_ARCH}" == "aarch64" || "${WEBRTC_ARCH}" == "arm64" ]]; then
+            WEBRTC_PLATFORM="linux_arm64"
+        else
+            WEBRTC_PLATFORM="linux"
+        fi
         tar -czf \
-            "$OPEN3D_DIR/webrtc_${WEBRTC_COMMIT_SHORT}_linux_cxx-abi-${GLIBCXX_USE_CXX11_ABI}.tar.gz" \
+            "$OPEN3D_DIR/webrtc_${WEBRTC_COMMIT_SHORT}_${WEBRTC_PLATFORM}_cxx-abi-${GLIBCXX_USE_CXX11_ABI}.tar.gz" \
             webrtc_release
     elif [[ $(uname -s) == 'Darwin' ]]; then
         tar -czf \
diff --git a/3rdparty/webrtc/webrtc_common.cmake b/3rdparty/webrtc/webrtc_common.cmake
index 98c19336c6a..1688eda2c69 100644
--- a/3rdparty/webrtc/webrtc_common.cmake
+++ b/3rdparty/webrtc/webrtc_common.cmake
@@ -9,23 +9,29 @@
 function(get_webrtc_args WEBRTC_ARGS)
     set(WEBRTC_ARGS "")
 
-    if(NOT MSVC)
-        # ABI selection
-        if(GLIBCXX_USE_CXX11_ABI)
-            set(WEBRTC_ARGS rtc_use_cxx11_abi=true\n${WEBRTC_ARGS})
-        else()
-            set(WEBRTC_ARGS rtc_use_cxx11_abi=false\n${WEBRTC_ARGS})
-        endif()
+    if(NOT MSVC AND NOT GLIBCXX_USE_CXX11_ABI)
+        # ABI selection. Upstream WebRTC does not declare this arg; the
+        # companion patches add it for old-ABI compatibility builds only.
+        set(WEBRTC_ARGS rtc_use_cxx11_abi=false\n${WEBRTC_ARGS})
     endif()
 
     if (APPLE)  # WebRTC default
         set(WEBRTC_ARGS is_clang=true\n${WEBRTC_ARGS})
+    elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+        # ARM64 Linux builds need Clang for WebRTC's NEON-enabled sources.
+        set(WEBRTC_ARGS is_clang=true\n${WEBRTC_ARGS})
     else()
         # Do not use Google clang for compilation due to LTO error when Open3D
         # is built with gcc on Ubuntu 20.04.
         set(WEBRTC_ARGS is_clang=false\n${WEBRTC_ARGS})
     endif()
 
+    # Architecture
+    if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+        set(WEBRTC_ARGS target_os="linux"\n${WEBRTC_ARGS})
+        set(WEBRTC_ARGS target_cpu="arm64"\n${WEBRTC_ARGS})
+    endif()
+
     # Don't use libc++ (Clang), use libstdc++ (GNU)
     # https://stackoverflow.com/a/47384787/1255535
     set(WEBRTC_ARGS use_custom_libcxx=false\n${WEBRTC_ARGS})
diff --git a/3rdparty/webrtc/webrtc_download.cmake b/3rdparty/webrtc/webrtc_download.cmake
index 8ac5a0b6ef7..95502eeb16f 100644
--- a/3rdparty/webrtc/webrtc_download.cmake
+++ b/3rdparty/webrtc/webrtc_download.cmake
@@ -23,6 +23,10 @@ elseif (WIN32)
     )
     set(WEBRTC_SHA256 f4686d0028ef5c36c5d7158a638fa834b63183b522f0b63932f7f70ebffeea22)
 else()  # Linux
+    if(LINUX_AARCH64)
+        message(FATAL_ERROR "Pre-built WebRTC binaries are not available for "
+            "Linux ARM64. Please use BUILD_WEBRTC_FROM_SOURCE=ON.")
+    endif()
     if(GLIBCXX_USE_CXX11_ABI)
         set(WEBRTC_URL
             https://github.com/isl-org/open3d_downloads/releases/download/webrtc-v3/webrtc_${WEBRTC_VER}_cxx-abi-1.tar.gz
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c9a87bc4c4a..3a4761858f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -231,9 +231,6 @@ endif()
 if(BUNDLE_OPEN3D_ML AND NOT (BUILD_TENSORFLOW_OPS OR BUILD_PYTORCH_OPS))
     message(SEND_ERROR "3DML depends on TensorFlow or PyTorch Ops. Enable them with -DBUILD_TENSORFLOW_OPS=ON or -DBUILD_PYTORCH_OPS=ON")
 endif()
-if(BUILD_WEBRTC AND LINUX_AARCH64)
-    message(FATAL_ERROR "BUILD_WEBRTC=ON is not yet supported on ARM Linux")
-endif()
 if(BUILD_WEBRTC AND NOT BUILD_GUI)
     message(FATAL_ERROR "BUILD_WEBRTC=ON requires BUILD_GUI=ON")
 endif()
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index dbd2ad912b2..e6634954584 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -76,7 +76,8 @@ RUN ccache --version \
  && mkdir -p ${CCACHE_DIR_PARENT} \
  && cd ${CCACHE_DIR_PARENT} \
  && (wget -nv https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
- && { tar -xf ${CCACHE_TAR_NAME}.tar.?z || true; }
+ && { tar -xf ${CCACHE_TAR_NAME}.tar.?z || true; } \
+ && mkdir -p ${CCACHE_DIR}
 # We need to set ccache size explicitly with -M, otherwise the default size is
 # *not* determined by ccache's default, but the downloaded ccache file's config.
 RUN ccache -M 4G \
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 3ea48c4517c..5b9aa8f79ac 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -172,10 +172,16 @@ build_pip_package() {
     if [[ "build_jupyter" =~ ^($options)$ ]]; then
         echo "Building Jupyter extension in Python wheel."
         BUILD_JUPYTER_EXTENSION=ON
-        BUILD_WEBRTC_FROM_SOURCE=ON
+        BUILD_WEBRTC=ON
+        if [[ "$AARCH" == "aarch64" ]]; then
+            BUILD_WEBRTC_FROM_SOURCE=ON
+        else
+            BUILD_WEBRTC_FROM_SOURCE=OFF
+        fi
     else
         echo "Jupyter extension disabled in Python wheel."
         BUILD_JUPYTER_EXTENSION=OFF
+        BUILD_WEBRTC=OFF
         BUILD_WEBRTC_FROM_SOURCE=OFF
     fi
     set -u
@@ -193,7 +199,8 @@ build_pip_package() {
         "-DBUILD_PYTORCH_OPS=$BUILD_PYTORCH_OPS"
         "-DBUILD_FILAMENT_FROM_SOURCE=$BUILD_FILAMENT_FROM_SOURCE"
         "-DBUILD_JUPYTER_EXTENSION=$BUILD_JUPYTER_EXTENSION"
-        "-DBUILD_WEBRTC=$BUILD_WEBRTC_FROM_SOURCE"
+        "-DBUILD_WEBRTC=$BUILD_WEBRTC"
+        "-DBUILD_WEBRTC_FROM_SOURCE=$BUILD_WEBRTC_FROM_SOURCE"
         "-DCMAKE_INSTALL_PREFIX=$OPEN3D_INSTALL_DIR"
         "-DCMAKE_BUILD_TYPE=Release"
         "-DBUILD_UNIT_TESTS=OFF"

From a4b2347afe5bd093fcb3b8b5704893a243a5b28c Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 10:14:53 +0200
Subject: [PATCH 09/19] fix webrtc

---
 3rdparty/webrtc/webrtc_build.cmake | 25 ++++++++++++++++++++-----
 docker/Dockerfile.wheel            |  6 +++++-
 2 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/3rdparty/webrtc/webrtc_build.cmake b/3rdparty/webrtc/webrtc_build.cmake
index 6945db48dcd..500d40c34f6 100644
--- a/3rdparty/webrtc/webrtc_build.cmake
+++ b/3rdparty/webrtc/webrtc_build.cmake
@@ -12,9 +12,24 @@ cmake_dependent_option(WEBRTC_IS_DEBUG
     "WebRTC Debug build. Use ON for Win32 Open3D Debug." OFF
     "NOT CMAKE_BUILD_TYPE STREQUAL Debug OR NOT WIN32" ON)
 
-# Set paths
-set(WEBRTC_ROOT ${CMAKE_BINARY_DIR}/webrtc/src/ext_webrtc)
-set(DEPOT_TOOLS_ROOT ${PROJECT_SOURCE_DIR}/../depot_tools)
+# Set paths. WebRTC source builds intentionally consume an existing checkout
+# prepared by webrtc_build.sh or the WebRTC workflow; CMake does not fetch it.
+set(WEBRTC_SOURCE_DIR "${PROJECT_SOURCE_DIR}/../webrtc" CACHE PATH
+    "Path to the WebRTC checkout containing src/.")
+set(DEPOT_TOOLS_ROOT "${PROJECT_SOURCE_DIR}/../depot_tools" CACHE PATH
+    "Path to depot_tools.")
+set(WEBRTC_ROOT ${WEBRTC_SOURCE_DIR})
+
+if(NOT EXISTS ${WEBRTC_ROOT}/src)
+    message(FATAL_ERROR "Cannot find ${WEBRTC_ROOT}/src. Please run "
+        "3rdparty/webrtc/webrtc_build.sh::download_webrtc_sources() first, "
+        "or set WEBRTC_SOURCE_DIR to an existing WebRTC checkout.")
+endif()
+if(NOT EXISTS ${DEPOT_TOOLS_ROOT}/gn)
+    message(FATAL_ERROR "Cannot find ${DEPOT_TOOLS_ROOT}/gn. Please run "
+        "3rdparty/webrtc/webrtc_build.sh::download_webrtc_sources() first, "
+        "or set DEPOT_TOOLS_ROOT to an existing depot_tools checkout.")
+endif()
 
 # Set WebRTC build type path
 if(WEBRTC_IS_DEBUG)
@@ -37,8 +52,8 @@ endif()
 ExternalProject_Add(
     ext_webrtc
     PREFIX webrtc
-    DOWNLOAD_COMMAND ${CMAKE_COMMAND} -E rm -rf ext_webrtc
-    COMMAND ${CMAKE_COMMAND} -E copy_directory ${PROJECT_SOURCE_DIR}/../webrtc ext_webrtc
+    SOURCE_DIR ${WEBRTC_ROOT}
+    DOWNLOAD_COMMAND ""
     UPDATE_COMMAND ""
     CONFIGURE_COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}/args.gn
         ${WEBRTC_NINJA_ROOT}/args.gn
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index e6634954584..73fa43ae984 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -141,7 +141,11 @@ WORKDIR /root/Open3D
 RUN export NPROC=$(($(nproc)+2)) \
  && export BUILD_SHARED_LIBS=OFF \
  && source /root/Open3D/util/ci_utils.sh \
- && build_pip_package build_azure_kinect build_jupyter \
+ && if [ "$(uname -m)" = "aarch64" ]; then \
+        build_pip_package build_azure_kinect; \
+    else \
+        build_pip_package build_azure_kinect build_jupyter; \
+    fi \
  && if [ ${CI:-}a != a ]; then find /root/Open3D/build -mindepth 1 -maxdepth 1 ! -name 'lib' -exec rm -rf {} + ; fi
  # remove build folder (except lib) to save CI space on Github
 

From f81ef0a36c0b6d2eeefea4269b1f7f4b28168c21 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 10:25:18 +0200
Subject: [PATCH 10/19] fix webrtc

---
 docker/Dockerfile.ci    | 10 +++++++---
 docker/Dockerfile.wheel | 14 ++++++++++----
 docker/docker_build.sh  |  7 ++++++-
 3 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index 5c1701396b0..93424caade0 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
@@ -57,6 +58,7 @@ ENV BUILD_SYCL_MODULE=${BUILD_SYCL_MODULE}
 ENV DEBIAN_FRONTEND=noninteractive
 ENV TZ=America/Los_Angeles
 ENV SUDO=command
+ENV CCACHE_DIR=/root/.cache/ccache
 
 # The base image already contains the oneAPI packages.
 # Having this in the list can cause checksum errors when apt-get update.
@@ -122,7 +124,8 @@ RUN CMAKE_VERSION_NUMBERS=$(echo "${CMAKE_VERSION}" | cut -d"-" -f2) \
 # - CCACHE_DIR_PARENT = ~/.cache
 # We need to set ccache size explicitly with -M, otherwise the defualt size is
 # *not* determined by ccache's default, but the downloaded ccache file's config.
-RUN ccache --version \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ ccache --version \
  && CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
@@ -170,7 +173,7 @@ RUN mkdir -p /etc/apt/keyrings \
  && yarn --version
 
 # Build all
-RUN \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
     if [ "${BUILD_SYCL_MODULE}" = "ON" ]; then \
         export CMAKE_CXX_COMPILER=icpx; \
         export CMAKE_C_COMPILER=icx; \
@@ -211,7 +214,8 @@ RUN \
 # If CI is not null or unset, remove all large build folders to save disk space
 
 # Compress ccache folder, move to / directory
-RUN ccache -s \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ ccache -s \
  && CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index 73fa43ae984..d52584a3501 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
 ARG BASE_IMAGE=nvidia/cuda:13.2.1-cudnn-devel-ubuntu22.04
 FROM ${BASE_IMAGE}
@@ -24,6 +25,7 @@ ENV BUILD_TENSORFLOW_OPS=${BUILD_TENSORFLOW_OPS}
 ENV DEBIAN_FRONTEND=noninteractive
 ENV TZ=America/Los_Angeles
 ENV SUDO=command
+ENV CCACHE_DIR=/root/.cache/ccache
 
 SHELL ["/bin/bash", "-c"]
 
@@ -69,7 +71,8 @@ ENV PATH=${HOME}/${CMAKE_VERSION}/bin:${PATH}
 # CCACHE_DIR        = ~/.cache/ccache
 # CCACHE_DIR_NAME   = ccache
 # CCACHE_DIR_PARENT = ~/.cache
-RUN ccache --version \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ ccache --version \
  && CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
@@ -80,7 +83,8 @@ RUN ccache --version \
  && mkdir -p ${CCACHE_DIR}
 # We need to set ccache size explicitly with -M, otherwise the default size is
 # *not* determined by ccache's default, but the downloaded ccache file's config.
-RUN ccache -M 4G \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ ccache -M 4G \
  && ccache -s
 
 # pyenv
@@ -138,7 +142,8 @@ COPY . /root/Open3D
 WORKDIR /root/Open3D
 
 # Build python wheel
-RUN export NPROC=$(($(nproc)+2)) \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ export NPROC=$(($(nproc)+2)) \
  && export BUILD_SHARED_LIBS=OFF \
  && source /root/Open3D/util/ci_utils.sh \
  && if [ "$(uname -m)" = "aarch64" ]; then \
@@ -150,7 +155,8 @@ RUN export NPROC=$(($(nproc)+2)) \
  # remove build folder (except lib) to save CI space on Github
 
 # Compress ccache folder, move to / directory
-RUN ccache -s \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ ccache -s \
  && CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index bb41ab46df5..96b823a9f3c 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -16,6 +16,7 @@
 #   This make the Docker image reproducible across different machines.
 set -euo pipefail
 
+export DOCKER_BUILDKIT=1
 export BUILDKIT_PROGRESS=plain
 
 __usage_docker_build="USAGE:
@@ -80,8 +81,12 @@ HOST_OPEN3D_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. >/dev/null 2>&1 && pw
 
 # Shared variables
 AARCH="$(uname -m)"
+CMAKE_AARCH=${AARCH}
+if [[ "${CMAKE_AARCH}" == "arm64" ]]; then
+    CMAKE_AARCH=aarch64
+fi
 # do cmake pending on the architecture
-CMAKE_VERSION=cmake-3.31.8-linux-${AARCH}
+CMAKE_VERSION=cmake-3.31.8-linux-${CMAKE_AARCH}
 CUDA_VERSION=13.2.1-cudnn
 CUDA_VERSION_LATEST=13.2.1-cudnn
 

From d2c8edde4648a5e465bbeb2fc87816fef2183b2c Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 10:55:02 +0200
Subject: [PATCH 11/19] fix windows

---
 .github/workflows/clean-gcloud-profiles.yml | 2 +-
 .github/workflows/ubuntu-cuda.yml           | 2 +-
 .github/workflows/ubuntu-sycl.yml           | 2 +-
 .github/workflows/ubuntu-wheel.yml          | 4 ++--
 .github/workflows/windows.yml               | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/clean-gcloud-profiles.yml b/.github/workflows/clean-gcloud-profiles.yml
index 2521b1de160..37702f8fe3b 100644
--- a/.github/workflows/clean-gcloud-profiles.yml
+++ b/.github/workflows/clean-gcloud-profiles.yml
@@ -33,7 +33,7 @@ jobs:
       fail-fast: false
     steps:
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v2'
+        uses: 'google-github-actions/auth@v3'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index 83de00636eb..1174dcfce35 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -77,7 +77,7 @@ jobs:
           tar -czvf Open3D.tar.gz Open3D
           ls -alh
       - name: GCloud CLI auth
-        uses: 'google-github-actions/auth@v2'
+        uses: 'google-github-actions/auth@v3'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index 96f0467bac0..79a33cdf699 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -72,7 +72,7 @@ jobs:
 
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v2'
+        uses: 'google-github-actions/auth@v3'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index bbc0fcfa463..c2026cd8b9c 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -105,7 +105,7 @@ jobs:
           ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }}
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v2'
+        uses: 'google-github-actions/auth@v3'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
@@ -185,7 +185,7 @@ jobs:
           ${GITHUB_WORKSPACE}/${{ env.PIP_CPU_PKG_NAME }}
       - name: GCloud CLI auth
         if: ${{ github.ref == 'refs/heads/main' }}
-        uses: 'google-github-actions/auth@v2'
+        uses: 'google-github-actions/auth@v3'
         with:
           project_id: ${{ secrets.GCE_PROJECT }}
           credentials_json: '${{ secrets.GCE_SA_KEY_GPU_CI }}'
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 3508b7718eb..bda6de0797e 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -76,7 +76,7 @@ jobs:
           # Installer arguments
           $CUDA_INSTALL_ARGS = "-s"
           # Required packages
-          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "cusparse", "cusparse_dev", "npp", "npp_dev", "nvtx", "thrust"
+          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "crt", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "cusparse", "cusparse_dev", "npp", "npp_dev", "nvtx", "thrust"
           $CUDA_PACKAGES.ForEach({ $CUDA_INSTALL_ARGS += " $($_)_$($CUDA_VER)" })
           # Download and install CUDA
           echo "Downloading CUDA installer from $CUDA_URL"

From b6737ab7cf57b3a319a34d35729bd4d4388e7572 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 10:56:44 +0200
Subject: [PATCH 12/19] fix sbsa

---
 python/setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/setup.py b/python/setup.py
index 5dbce75297d..00ecfd941ba 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -155,7 +155,7 @@ def finalize_options(self):
 if "@BUILD_CUDA_MODULE@" == "ON":
     classifiers.append("Environment :: GPU :: NVIDIA CUDA")
 elif (sys.platform.startswith("linux") and
-      platform.machine() in ("i386", "x86_64", "AMD64") and
+      platform.machine() in ("i386", "x86_64", "AMD64", "aarch64") and
       "@BUILD_SYCL_MODULE@" == "OFF"):
     name += "-cpu"
     long_description += ("\n\nThis wheel only contains CPU functionality. "

From 4282d202d1cba20c1bcfbeb07da80d241262f198 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 11:22:04 +0200
Subject: [PATCH 13/19] fix windows

---
 .github/workflows/windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index bda6de0797e..0f8541d7284 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -76,7 +76,7 @@ jobs:
           # Installer arguments
           $CUDA_INSTALL_ARGS = "-s"
           # Required packages
-          $CUDA_PACKAGES = "nvcc", "visual_studio_integration", "crt", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "cusparse", "cusparse_dev", "npp", "npp_dev", "nvtx", "thrust"
+          $CUDA_PACKAGES = "nvcc", "nvvm", "visual_studio_integration", "crt", "cublas", "cublas_dev", "cudart", "cusolver", "cusolver_dev", "cusparse", "cusparse_dev", "npp", "npp_dev", "nvtx", "thrust"
           $CUDA_PACKAGES.ForEach({ $CUDA_INSTALL_ARGS += " $($_)_$($CUDA_VER)" })
           # Download and install CUDA
           echo "Downloading CUDA installer from $CUDA_URL"

From 058a24bc42ac4d11de0721e04ff080499b127c47 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 12:07:37 +0200
Subject: [PATCH 14/19] fix open3d to open3d_cpu

---
 .github/workflows/ubuntu-openblas.yml |  8 ++++++--
 docker/Dockerfile.openblas            | 13 +++++++++++--
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ubuntu-openblas.yml b/.github/workflows/ubuntu-openblas.yml
index a4f294f9a2d..af2fe8bb94b 100644
--- a/.github/workflows/ubuntu-openblas.yml
+++ b/.github/workflows/ubuntu-openblas.yml
@@ -70,14 +70,18 @@ jobs:
           # Strip the dot: 3.12 ➜ 312, 3.14 ➜ 314 …
           PY_NO_DOT="${PYTHON_VERSION//./}"
           # Add “-dev” only when requested
-          DEV_SUFFIX=$([ "${DEVELOPER_BUILD}" = "ON" ] && echo "-dev")
+          DEV_SUFFIX=""
+          if [ "${DEVELOPER_BUILD}" = "ON" ]; then
+            DEV_SUFFIX="-dev"
+          fi
           echo "DOCKER_TAG=openblas-arm64-py${PY_NO_DOT}${DEV_SUFFIX}" >> $GITHUB_ENV
 
       - name: Docker build
         run: |
           docker/docker_build.sh "${DOCKER_TAG}"
           shopt -s failglob
-          PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
+          wheels=("${GITHUB_WORKSPACE}"/open3d*.whl)
+          PIP_PKG_NAME="$(basename "${wheels[0]}")"
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
 
       - name: Docker test
diff --git a/docker/Dockerfile.openblas b/docker/Dockerfile.openblas
index 2689b3e14da..f7d68e79d2c 100644
--- a/docker/Dockerfile.openblas
+++ b/docker/Dockerfile.openblas
@@ -1,3 +1,4 @@
+# syntax=docker/dockerfile:1.7
 # FROM must be called before other ARGS except for ARG BASE_IMAGE
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
@@ -19,6 +20,7 @@ RUN if [ -z "${CONDA_SUFFIX}"    ]; then echo "Error: ARG CONDA_SUFFIX    not sp
 ENV DEBIAN_FRONTEND=noninteractive
 ENV TZ=America/Los_Angeles
 ENV SUDO=command
+ENV CCACHE_DIR=/root/.cache/ccache
 
 # Minimal dependencies for running Docker
 # wget    : for downloading
@@ -33,6 +35,7 @@ RUN apt-get update && apt-get install -y \
 # Minimal dependencies for building python
 RUN apt-get update && apt-get install -y \
     build-essential \
+    ccache \
     libssl-dev \
     zlib1g-dev \
     libbz2-dev \
@@ -49,6 +52,10 @@ RUN apt-get update && apt-get install -y \
     liblzma-dev \
  && rm -rf /var/lib/apt/lists/*
 
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+    ccache -M 4G \
+ && ccache -s
+
 # pyenv
 # The pyenv python paths are used during docker run, in this way docker run
 # does not need to activate the environment again.
@@ -98,7 +105,8 @@ COPY . /root/Open3D
 WORKDIR /root/Open3D
 
 # Build
-RUN mkdir build \
+RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
+ mkdir build \
  && cd build \
  && cmake \
     -DBUILD_UNIT_TESTS=ON \
@@ -109,5 +117,6 @@ RUN mkdir build \
  && export NPROC=$(($(nproc)+2)) \
  && make -j$NPROC \
  && make install-pip-package -j$NPROC \
- && make install -j$NPROC
+ && make install -j$NPROC \
+ && ccache -s
 RUN cp build/lib/python_package/pip_package/*.whl /

From 002a3cdf63d4cc4ce4dfcd282c7311d433d4caa5 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 12:11:04 +0200
Subject: [PATCH 15/19] fix open3d to open3d_cpu

---
 docker/Dockerfile.ci    | 2 +-
 docker/Dockerfile.wheel | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index 93424caade0..ab611f39161 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -132,7 +132,7 @@ RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
  && mkdir -p ${CCACHE_DIR_PARENT} \
  && cd ${CCACHE_DIR_PARENT} \
  && (wget -nv https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
- && { tar -xf ${CCACHE_TAR_NAME}.tar.?z || true; } \
+ && if compgen -G "${CCACHE_TAR_NAME}.tar.?z" > /dev/null; then tar -xf ${CCACHE_TAR_NAME}.tar.?z; fi \
  && mkdir -p ${CCACHE_DIR} \
  && ccache -M 4G \
  && ccache -s
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index d52584a3501..792de2c1cfe 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -79,7 +79,7 @@ RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
  && mkdir -p ${CCACHE_DIR_PARENT} \
  && cd ${CCACHE_DIR_PARENT} \
  && (wget -nv https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
- && { tar -xf ${CCACHE_TAR_NAME}.tar.?z || true; } \
+ && if compgen -G "${CCACHE_TAR_NAME}.tar.?z" > /dev/null; then tar -xf ${CCACHE_TAR_NAME}.tar.?z; fi \
  && mkdir -p ${CCACHE_DIR}
 # We need to set ccache size explicitly with -M, otherwise the default size is
 # *not* determined by ccache's default, but the downloaded ccache file's config.

From 9c7f6757d6080e4aaa2ef5a4bd457b3022c0dbef Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Mon, 4 May 2026 16:21:58 +0200
Subject: [PATCH 16/19] webrtc building again in all plattforms

---
 .github/workflows/macos.yml                   |  4 +-
 .github/workflows/ubuntu-wheel.yml            |  8 +-
 .github/workflows/windows.yml                 |  2 +-
 .../fix-thrust-is-proxy-reference.patch       | 25 ------
 3rdparty/stdgpu/stdgpu.cmake                  | 29 +++---
 3rdparty/webrtc/Dockerfile.webrtc             | 10 ++-
 3rdparty/webrtc/webrtc_build.sh               | 90 ++++++++++++++++---
 3rdparty/webrtc/webrtc_common.cmake           | 24 ++---
 CHANGELOG.md                                  |  2 +-
 CMakeLists.txt                                |  2 +
 docker/Dockerfile.wheel                       | 11 ++-
 util/ci_utils.sh                              |  2 +-
 12 files changed, 134 insertions(+), 75 deletions(-)
 delete mode 100644 3rdparty/stdgpu/fix-thrust-is-proxy-reference.patch

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 0ff118fa281..08e83dfcdce 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -141,7 +141,7 @@ jobs:
             python_version: '3.13'
 
     env:
-      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
+      # TensorFlow v2.21 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
       # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
       BUILD_PYTORCH_OPS: 'ON'
@@ -244,7 +244,7 @@ jobs:
             python_version: '3.13'
 
     env:
-      # TensorFlow v2.20 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
+      # TensorFlow v2.21 only supports macOS-14 (Apple Silicon) and python 3.9-3.13
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
       # PyTorch 2.10 only supports macOS-14 (Apple Silicon) and python 3.10-3.14
       BUILD_PYTORCH_OPS: 'ON'
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index c2026cd8b9c..86c148d866d 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -49,7 +49,7 @@ jobs:
       CCACHE_TAR_NAME: open3d-ubuntu-2204-cuda-ci-ccache
       OPEN3D_CPU_RENDERING: true
       BUILD_PYTORCH_OPS: 'ON'
-      # TensorFlow v2.20 only supports python 3.9-3.13
+      # TensorFlow v2.21 only supports python 3.9-3.13
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
@@ -84,6 +84,7 @@ jobs:
             docker/docker_build.sh cuda_wheel_py314
           fi
           shopt -s failglob
+          ls -al ${GITHUB_WORKSPACE}/open3d*.whl
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
@@ -146,7 +147,7 @@ jobs:
       CCACHE_TAR_NAME: open3d-ubuntu-2204-cuda-sbsa-ci-ccache
       OPEN3D_CPU_RENDERING: true
       BUILD_PYTORCH_OPS: 'ON'
-      # TensorFlow v2.20 only supports python 3.9-3.13
+      # TensorFlow v2.21 only supports python 3.9-3.13
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
@@ -164,6 +165,7 @@ jobs:
           fi
           docker/docker_build.sh "cuda_wheel_py${PY_NO_DOT}${DEV_SUFFIX}"
           shopt -s failglob
+          ls -al ${GITHUB_WORKSPACE}/open3d*.whl
           PIP_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d-[0-9]*.whl)"
           PIP_CPU_PKG_NAME="$(basename ${GITHUB_WORKSPACE}/open3d_cpu*.whl)"
           echo "PIP_PKG_NAME=$PIP_PKG_NAME" >> $GITHUB_ENV
@@ -224,7 +226,7 @@ jobs:
     env:
       OPEN3D_ML_ROOT: ${{ github.workspace }}/Open3D-ML
       BUILD_PYTORCH_OPS: 'ON'
-      # TensorFlow v2.20 only supports python 3.9-3.13
+      # TensorFlow v2.21 only supports python 3.9-3.13
       BUILD_TENSORFLOW_OPS: ${{ matrix.python_version >= '3.14' && 'OFF' || 'ON' }}
     steps:
       - name: Checkout source code
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 0f8541d7284..b14e208628d 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/test/cu132
+            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu132
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }
diff --git a/3rdparty/stdgpu/fix-thrust-is-proxy-reference.patch b/3rdparty/stdgpu/fix-thrust-is-proxy-reference.patch
deleted file mode 100644
index 88c4101c28b..00000000000
--- a/3rdparty/stdgpu/fix-thrust-is-proxy-reference.patch
+++ /dev/null
@@ -1,25 +0,0 @@
-diff --git a/src/stdgpu/impl/iterator_detail.h b/src/stdgpu/impl/iterator_detail.h
-index 0000000..1111111 100644
---- a/src/stdgpu/impl/iterator_detail.h
-+++ b/src/stdgpu/impl/iterator_detail.h
-@@ -393,15 +393,15 @@ THRUST_NAMESPACE_BEGIN
- {
- 
- template <typename Container>
--struct is_proxy_reference<stdgpu::detail::back_insert_iterator_proxy<Container>> : public thrust::detail::true_type
-+struct is_wrapped_reference<stdgpu::detail::back_insert_iterator_proxy<Container>> : public thrust::detail::true_type
- {
- };
- 
- template <typename Container>
--struct is_proxy_reference<stdgpu::detail::front_insert_iterator_proxy<Container>> : public thrust::detail::true_type
-+struct is_wrapped_reference<stdgpu::detail::front_insert_iterator_proxy<Container>> : public thrust::detail::true_type
- {
- };
- 
- template <typename Container>
--struct is_proxy_reference<stdgpu::detail::insert_iterator_proxy<Container>> : public thrust::detail::true_type
-+struct is_wrapped_reference<stdgpu::detail::insert_iterator_proxy<Container>> : public thrust::detail::true_type
- {
- };
-
diff --git a/3rdparty/stdgpu/stdgpu.cmake b/3rdparty/stdgpu/stdgpu.cmake
index ed78d5c9cb9..c11f0a10c99 100644
--- a/3rdparty/stdgpu/stdgpu.cmake
+++ b/3rdparty/stdgpu/stdgpu.cmake
@@ -4,32 +4,34 @@
 
 include(ExternalProject)
 
-find_package(Git QUIET REQUIRED)
-
 # In CUDA 13.0+, Thrust moved from include/thrust/ to include/cccl/thrust/
 # Set the appropriate include directory based on CUDA version
 if(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "13.0")
     set(THRUST_INCLUDE_DIR_PATH "${CUDAToolkit_LIBRARY_ROOT}/include/cccl")
-    # In CUDA 13.0+, Thrust renamed is_proxy_reference to is_wrapped_reference
-    # Initialize git repository and apply patch for Thrust API compatibility
-    set(STDGPU_PATCH_COMMAND
-        COMMAND ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> ${GIT_EXECUTABLE} init
-        COMMAND ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> ${GIT_EXECUTABLE} add -A
-        COMMAND ${CMAKE_COMMAND} -E chdir <SOURCE_DIR> ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace ${CMAKE_CURRENT_LIST_DIR}/fix-thrust-is-proxy-reference.patch
-    )
 else()
     set(THRUST_INCLUDE_DIR_PATH "${CUDAToolkit_LIBRARY_ROOT}/include")
-    set(STDGPU_PATCH_COMMAND "")
+endif()
+
+set(STDGPU_CMAKE_ARGS "")
+if(MSVC AND CUDAToolkit_VERSION VERSION_GREATER_EQUAL "13.2")
+    # CUDA 13.2 CCCL headers require MSVC's standard-conforming preprocessor.
+    list(APPEND STDGPU_CMAKE_ARGS
+        "-DCMAKE_CXX_FLAGS:STRING=${CMAKE_CXX_FLAGS} /Zc:preprocessor"
+        "-DCMAKE_CXX_FLAGS_DEBUG:STRING=${CMAKE_CXX_FLAGS_DEBUG} /Zc:preprocessor"
+        "-DCMAKE_CXX_FLAGS_RELEASE:STRING=${CMAKE_CXX_FLAGS_RELEASE} /Zc:preprocessor"
+        "-DCMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /Zc:preprocessor"
+        "-DCMAKE_CXX_FLAGS_MINSIZEREL:STRING=${CMAKE_CXX_FLAGS_MINSIZEREL} /Zc:preprocessor"
+    )
 endif()
 
 ExternalProject_Add(
     ext_stdgpu
     PREFIX stdgpu
-    URL https://github.com/stotko/stdgpu/archive/d7c07d056a654454c3f2d7cf928e6cec6e0ce28e.tar.gz
-    URL_HASH SHA256=85b38dc3807ac24b5afe8d06a674dbff8e66579dfd67cbb33189783b0a84a0aa
+    URL https://github.com/stotko/stdgpu/archive/0bebd1f51e686cb634461ab3a5271fb3c04560c4.tar.gz
+    URL_HASH SHA256=7c3b80cdc1715adbcb6d5f5af29beb5953730cb8357fe15b79281ec439934434
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/stdgpu"
     UPDATE_COMMAND ""
-    PATCH_COMMAND ${STDGPU_PATCH_COMMAND}
+    PATCH_COMMAND ""
     CMAKE_ARGS
         -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
         -DCUDAToolkit_ROOT=${CUDAToolkit_LIBRARY_ROOT}
@@ -39,6 +41,7 @@ ExternalProject_Add(
         -DSTDGPU_BUILD_BENCHMARKS=OFF
         -DSTDGPU_ENABLE_CONTRACT_CHECKS=OFF
         -DTHRUST_INCLUDE_DIR=${THRUST_INCLUDE_DIR_PATH}
+        ${STDGPU_CMAKE_ARGS}
         ${ExternalProject_CMAKE_ARGS_hidden}
     CMAKE_CACHE_ARGS    # Lists must be passed via CMAKE_CACHE_ARGS
         -DCMAKE_CUDA_ARCHITECTURES:STRING=${CMAKE_CUDA_ARCHITECTURES}
diff --git a/3rdparty/webrtc/Dockerfile.webrtc b/3rdparty/webrtc/Dockerfile.webrtc
index 16770438f48..9d13efcd097 100644
--- a/3rdparty/webrtc/Dockerfile.webrtc
+++ b/3rdparty/webrtc/Dockerfile.webrtc
@@ -1,6 +1,6 @@
 # Run from the root Open3D directory:
-# GLIBCXX_USE_CXX11_ABI, WEBRTC_COMMIT abd DEPOT_TOOLS_COMMIT are accepted as
-# build-args. e.g.:
+# GLIBCXX_USE_CXX11_ABI, WEBRTC_REPO, WEBRTC_BRANCH, WEBRTC_COMMIT,
+# DEPOT_TOOLS_COMMIT and NPROC are accepted as build-args. e.g.:
 #
 # > GLIBCXX_USE_CXX11_ABI=0
 #   - docker build --build-arg GLIBCXX_USE_CXX11_ABI=0 -t open3d-webrtc:abi0 \
@@ -17,11 +17,17 @@ FROM ubuntu:22.04
 
 ARG SUDO=command
 ARG GLIBCXX_USE_CXX11_ABI=1
+ARG WEBRTC_REPO=https://github.com/webrtc-sdk/webrtc.git
+ARG WEBRTC_BRANCH=m144_release
 ARG WEBRTC_COMMIT
 ARG DEPOT_TOOLS_COMMIT
+ARG NPROC
 ENV GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI}
+ENV WEBRTC_REPO=${WEBRTC_REPO}
+ENV WEBRTC_BRANCH=${WEBRTC_BRANCH}
 ENV WEBRTC_COMMIT=${WEBRTC_COMMIT}
 ENV DEPOT_TOOLS_COMMIT=${DEPOT_TOOLS_COMMIT}
+ENV NPROC=${NPROC}
 COPY 3rdparty/webrtc 3rdparty/webrtc
 RUN bash -c "source 3rdparty/webrtc/webrtc_build.sh && install_dependencies_ubuntu purge-cache"
 RUN bash -c "source 3rdparty/webrtc/webrtc_build.sh && download_webrtc_sources"
diff --git a/3rdparty/webrtc/webrtc_build.sh b/3rdparty/webrtc/webrtc_build.sh
index d4ad07a7287..4475c38528b 100755
--- a/3rdparty/webrtc/webrtc_build.sh
+++ b/3rdparty/webrtc/webrtc_build.sh
@@ -7,7 +7,8 @@ set -euox pipefail
 # Usage:
 # $ bash # Start a new shell
 # Specify custom configuration by exporting environment variables
-# GLIBCXX_USE_CXX11_ABI, WEBRTC_COMMIT and DEPOT_TOOLS_COMMIT, if required.
+# GLIBCXX_USE_CXX11_ABI, WEBRTC_REPO, WEBRTC_BRANCH, WEBRTC_COMMIT,
+# DEPOT_TOOLS_COMMIT and NPROC, if required.
 # $ source 3rdparty/webrtc/webrtc_build.sh
 # $ install_dependencies_ubuntu   # Ubuntu only
 # $ download_webrtc_sources
@@ -35,13 +36,24 @@ set -euox pipefail
 #    Note that these patches may or may not be compatible with your custom
 #    WebRTC commits. You may have to patch them manually.
 
-# Upstream HEAD on 2026-05-04
-WEBRTC_COMMIT=${WEBRTC_COMMIT:-ffb74219ec3edff87b8bb9a88c1710dc7d2df97e}
+detect_nproc() {
+    if command -v nproc >/dev/null 2>&1; then
+        nproc
+    else
+        getconf _NPROCESSORS_ONLN
+    fi
+}
+
+# Use the WebRTC-SDK fork by default.
+WEBRTC_REPO=${WEBRTC_REPO:-https://github.com/webrtc-sdk/webrtc.git}
+WEBRTC_BRANCH=${WEBRTC_BRANCH:-m144_release}
+# Optionally pin to a commit after checking out WEBRTC_BRANCH.
+WEBRTC_COMMIT=${WEBRTC_COMMIT:-}
 # Upstream HEAD on 2026-05-04
 DEPOT_TOOLS_COMMIT=${DEPOT_TOOLS_COMMIT:-ff41874736c800b2f79aa8cf9596c7919066eb02}
 
 GLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI:-1}
-NPROC=${NPROC:-$(getconf _NPROCESSORS_ONLN)} # POSIX: MacOS + Linux
+NPROC=${NPROC:-$(detect_nproc)}
 SUDO=${SUDO:-sudo}                           # Set to command if running inside docker
 export PATH="$PWD/../depot_tools":${PATH}    # $(basename $PWD) == Open3D
 export DEPOT_TOOLS_UPDATE=0
@@ -67,6 +79,37 @@ install_dependencies_ubuntu() {
         software-properties-common \
         tree \
         curl
+    if [[ "$(uname -m)" == "aarch64" || "$(uname -m)" == "arm64" ]]; then
+        curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key |
+            gpg --dearmor - |
+            $SUDO tee /etc/apt/trusted.gpg.d/apt.llvm.org.gpg >/dev/null
+        source <(grep VERSION_CODENAME /etc/os-release)
+        $SUDO apt-add-repository --yes "deb http://apt.llvm.org/${VERSION_CODENAME}/ llvm-toolchain-${VERSION_CODENAME}-22 main"
+        $SUDO apt-get update
+        $SUDO apt-get install -y clang-22 lld-22 libclang-rt-22-dev
+        $SUDO update-alternatives --install /usr/bin/clang clang /usr/bin/clang-22 100
+        $SUDO update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-22 100
+        for tool in lld ld.lld ld64.lld wasm-ld llvm-ar llvm-nm llvm-objcopy llvm-objdump llvm-ranlib llvm-readelf llvm-strip; do
+            if [[ -x "/usr/bin/${tool}-22" ]]; then
+                $SUDO update-alternatives --install "/usr/bin/${tool}" "${tool}" "/usr/bin/${tool}-22" 100
+            fi
+        done
+        CLANG_RT_BUILTINS="$(find /usr/lib/llvm-22 /usr/lib/clang \
+            -path '*/lib/linux/*' \
+            \( -name libclang_rt.builtins.a -o -name libclang_rt.builtins-aarch64.a \) |
+            head -n 1)"
+        if [[ -z "${CLANG_RT_BUILTINS}" ]]; then
+            CLANG_RT_BUILTINS="$(find /usr/lib/llvm-22 /usr/lib/clang \
+            -not -path '*/lib/windows/*' \
+            \( -name libclang_rt.builtins.a -o -name libclang_rt.builtins-aarch64.a \) |
+            head -n 1)"
+        fi
+        if [[ -n "${CLANG_RT_BUILTINS}" ]]; then
+            $SUDO mkdir -p /usr/lib/clang/22/lib/aarch64-unknown-linux-gnu
+            $SUDO ln -sf "${CLANG_RT_BUILTINS}" \
+                /usr/lib/clang/22/lib/aarch64-unknown-linux-gnu/libclang_rt.builtins.a
+        fi
+    fi
     curl https://apt.kitware.com/keys/kitware-archive-latest.asc \
         2>/dev/null | gpg --dearmor - |
         $SUDO sed -n 'w /etc/apt/trusted.gpg.d/kitware.gpg' # Write to file, no stdout
@@ -87,16 +130,36 @@ download_webrtc_sources() {
     echo Get depot_tools
     git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git
     git -C depot_tools checkout $DEPOT_TOOLS_COMMIT
-    command -V fetch
+    command -V gclient
 
     echo Get WebRTC
     mkdir webrtc
     cd webrtc
-    fetch webrtc
+    if [[ -n "${WEBRTC_COMMIT}" ]]; then
+        WEBRTC_GCLIENT_URL="${WEBRTC_REPO}@${WEBRTC_COMMIT}"
+    else
+        WEBRTC_GCLIENT_URL="${WEBRTC_REPO}@refs/heads/${WEBRTC_BRANCH}"
+    fi
+    cat > .gclient <<EOF
+solutions = [
+  {
+    "name": "src",
+    "url": "${WEBRTC_GCLIENT_URL}",
+    "deps_file": "DEPS",
+    "managed": False,
+    "custom_deps": {},
+    "custom_vars": {},
+  },
+]
+target_os = []
+EOF
+    git clone --branch "${WEBRTC_BRANCH}" "${WEBRTC_REPO}" src
 
-    # Checkout to a specific version
+    # Optionally checkout to a specific version.
     # Ref: https://chromium.googlesource.com/chromium/src/+/master/docs/building_old_revisions.md
-    git -C src checkout $WEBRTC_COMMIT
+    if [[ -n "${WEBRTC_COMMIT}" ]]; then
+        git -C src checkout "${WEBRTC_COMMIT}"
+    fi
     git -C src submodule update --init --recursive
     echo gclient sync
     gclient sync -D --force --reset
@@ -123,14 +186,19 @@ build_webrtc() {
     fi
     WEBRTC_COMMIT_SHORT=$(git -C ../webrtc/src rev-parse --short=7 HEAD)
 
-    echo Build WebRTC
+    echo "Build WebRTC using NPROC=${NPROC}"
+    if [[ -x ../depot_tools/ensure_bootstrap ]]; then
+        ../depot_tools/ensure_bootstrap
+    else
+        gclient --version >/dev/null
+    fi
     mkdir ../webrtc/build
     pushd ../webrtc/build
     cmake -DCMAKE_INSTALL_PREFIX=../../webrtc_release \
         -DGLIBCXX_USE_CXX11_ABI=${GLIBCXX_USE_CXX11_ABI} \
         ..
-    make -j$NPROC
-    make install
+    make -j"${NPROC}"
+    make install -j"${NPROC}"
     popd # PWD=Open3D
     pushd ..
     tree -L 2 webrtc_release || ls webrtc_release/*
diff --git a/3rdparty/webrtc/webrtc_common.cmake b/3rdparty/webrtc/webrtc_common.cmake
index 1688eda2c69..8a09fa4d079 100644
--- a/3rdparty/webrtc/webrtc_common.cmake
+++ b/3rdparty/webrtc/webrtc_common.cmake
@@ -18,8 +18,12 @@ function(get_webrtc_args WEBRTC_ARGS)
     if (APPLE)  # WebRTC default
         set(WEBRTC_ARGS is_clang=true\n${WEBRTC_ARGS})
     elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
-        # ARM64 Linux builds need Clang for WebRTC's NEON-enabled sources.
+        # m144 libyuv uses ARM features that GCC 11 cannot assemble. Use the
+        # native system clang/lld instead of Chromium's downloaded x86_64 tools.
         set(WEBRTC_ARGS is_clang=true\n${WEBRTC_ARGS})
+        set(WEBRTC_ARGS clang_base_path="/usr"\n${WEBRTC_ARGS})
+        set(WEBRTC_ARGS clang_use_chrome_plugins=false\n${WEBRTC_ARGS})
+        set(WEBRTC_ARGS use_lld=true\n${WEBRTC_ARGS})
     else()
         # Do not use Google clang for compilation due to LTO error when Open3D
         # is built with gcc on Ubuntu 20.04.
@@ -80,15 +84,15 @@ endfunction()
 # webrtc        -> libwebrtc.a
 # other targets -> libwebrtc_extra.a
 set(NINJA_TARGETS
-    webrtc
-    rtc_json
-    jsoncpp
-    builtin_video_decoder_factory
-    builtin_video_encoder_factory
-    peerconnection
-    p2p_server_utils
-    task_queue
-    default_task_queue_factory
+    :webrtc
+    rtc_base:rtc_json
+    third_party/jsoncpp:jsoncpp
+    api/video_codecs:builtin_video_decoder_factory
+    api/video_codecs:builtin_video_encoder_factory
+    pc:peer_connection
+    p2p:p2p_server_utils
+    api/task_queue:task_queue
+    api/task_queue:default_task_queue_factory
 )
 
 # Byproducts for ninja build, later packaged by CMake into libwebrtc_extra.a
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 95caf64487c..b44fdd4f988 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 ## Main
 -   Upgrade CUDA CI to 13.2.1 and add CUDA SBSA Docker and wheel builds on Ubuntu ARM runners.
--   Upgrade stdgpu third-party library to commit d7c07d0.
+-   Upgrade stdgpu third-party library to commit 0bebd1f.
 -   Fix performance for non-contiguous NumPy array conversion in pybind vector converters. This change removes restrictive `py::array::c_style` flags and adds a runtime contiguity check, improving Pandas-to-Open3D conversion speed by up to ~50×. (issue #5250)(PR #7343).
 -   Corrected documentation for Link Open3D in C++ projects (broken links).
 -   Fix DLLs not being found in Python-package. Also prevent PATH from being searched for DLLs, except CUDA (PR #7108)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a4761858f6..9b5bbc7a374 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -506,6 +506,8 @@ if(WIN32)
         # for Open3D to compile (the linker fails otherwise with a "fatal error LNK1189: library limit of 65535
         # objects exceeded"). /Zc:inline will remove unreferenced data and functions from object files.
         add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/Zc:inline>)
+        # CUDA 13.2 CCCL headers require MSVC's standard-conforming preprocessor.
+        add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/Zc:preprocessor>)
     endif()
     if (STATIC_WINDOWS_RUNTIME)
         set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index 792de2c1cfe..706438ebd14 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -143,14 +143,13 @@ WORKDIR /root/Open3D
 
 # Build python wheel
 RUN --mount=type=cache,target=/root/.cache/ccache,sharing=locked \
- export NPROC=$(($(nproc)+2)) \
+ set -e \
+ && export NPROC=$(($(nproc)+2)) \
  && export BUILD_SHARED_LIBS=OFF \
  && source /root/Open3D/util/ci_utils.sh \
- && if [ "$(uname -m)" = "aarch64" ]; then \
-        build_pip_package build_azure_kinect; \
-    else \
-        build_pip_package build_azure_kinect build_jupyter; \
-    fi \
+ && build_args=(build_azure_kinect) \
+ && if [ "$(uname -m)" != "aarch64" ]; then build_args+=(build_jupyter); fi \
+ && build_pip_package "${build_args[@]}" \
  && if [ ${CI:-}a != a ]; then find /root/Open3D/build -mindepth 1 -maxdepth 1 ! -name 'lib' -exec rm -rf {} + ; fi
  # remove build folder (except lib) to save CI space on Github
 
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 5b9aa8f79ac..993cbfdd6d0 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -29,7 +29,7 @@ BUILD_SYCL_MODULE=${BUILD_SYCL_MODULE:-OFF}
 # ML
 TENSORFLOW_VER="2.21.0"
 TORCH_VER="2.12"
-TORCH_REPO_URL="https://download.pytorch.org/whl/test/torch/"
+TORCH_REPO_URL="https://download.pytorch.org/whl/torch/"
 # Python
 PIP_VER="26.1"
 PROTOBUF_VER="6.31.1"

From d5593d31f9835528ca09eb34f4cb51d260a62551 Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Tue, 12 May 2026 19:20:39 +0200
Subject: [PATCH 17/19] fix windows cuda pytorch install

---
 .github/workflows/windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index b14e208628d..cdb9804d1a3 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -111,7 +111,7 @@ jobs:
         run: |
           if ( '${{ matrix.BUILD_CUDA_MODULE }}' -eq 'ON' ) {
             # python -m pip install -r open3d_ml/requirements-torch-cuda.txt
-            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu132
+            python -m pip install torch torchvision --index-url https://download.pytorch.org/whl/cu132 --extra-index-url https://pypi.org/simple
           } else {
             python -m pip install -r open3d_ml/requirements-torch.txt
           }

From 40a33361f4024f391972ecfc71295dabf3e2fe2c Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Tue, 12 May 2026 23:33:11 +0200
Subject: [PATCH 18/19] Upgrade msgpack-c 3.3.0 -> msgpack-cxx 7.0.0

The new /Zc:preprocessor flag added for CUDA 13.2 CCCL headers breaks
msgpack-c 3.3.0's MSGPACK_DEFINE_MAP macro expansion under MSVC,
causing all Windows builds to fail. msgpack-cxx 5.0+ fixes this; bump
to 7.0.0 (header-only, drop-in compatible API).
---
 3rdparty/README.md                   | 4 ++--
 3rdparty/msgpack/msgpack_build.cmake | 8 ++++++--
 CHANGELOG.md                         | 1 +
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/3rdparty/README.md b/3rdparty/README.md
index 05ca13f0f04..4fcea0bd7d4 100644
--- a/3rdparty/README.md
+++ b/3rdparty/README.md
@@ -93,8 +93,8 @@ libzmq                      4.3.3         LGPLv3 + static link exception license
 ZeroMQ is a high-performance asynchronous messaging library
 https://github.com/zeromq/libzmq
 --------------------------------------------------------------------------------
-msgpack-c                   3.3.0                     Boost Software License 1.0
-MessagePack implementation for C and C++
+msgpack-cxx                 7.0.0                     Boost Software License 1.0
+MessagePack implementation for C++ (header-only)
 https://github.com/msgpack/msgpack-c/tree/cpp_master
 --------------------------------------------------------------------------------
 nanoflann                   1.3.1                                    BSD license
diff --git a/3rdparty/msgpack/msgpack_build.cmake b/3rdparty/msgpack/msgpack_build.cmake
index 8252ce43823..93f77984402 100644
--- a/3rdparty/msgpack/msgpack_build.cmake
+++ b/3rdparty/msgpack/msgpack_build.cmake
@@ -3,8 +3,12 @@ include(ExternalProject)
 ExternalProject_Add(
         ext_msgpack-c
         PREFIX msgpack-c
-        URL https://github.com/msgpack/msgpack-c/releases/download/cpp-3.3.0/msgpack-3.3.0.tar.gz
-        URL_HASH SHA256=6e114d12a5ddb8cb11f669f83f32246e484a8addd0ce93f274996f1941c1f07b
+        # msgpack-cxx >= 5.0 fixes config for MSVC's standards-conforming
+        # preprocessor (/Zc:preprocessor), which is required when building
+        # against CUDA 13.2 CCCL headers. The 3.3.0 release fails to expand
+        # MSGPACK_DEFINE_MAP under that preprocessor mode.
+        URL https://github.com/msgpack/msgpack-c/releases/download/cpp-7.0.0/msgpack-cxx-7.0.0.tar.gz
+        URL_HASH SHA256=7504b7af7e7b9002ce529d4f941e1b7fb1fb435768780ce7da4abaac79bb156f
         DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/msgpack"
         # do not configure
         CONFIGURE_COMMAND ""
diff --git a/CHANGELOG.md b/CHANGELOG.md
index b44fdd4f988..53bbcde1bf7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,7 @@
 ## Main
 -   Upgrade CUDA CI to 13.2.1 and add CUDA SBSA Docker and wheel builds on Ubuntu ARM runners.
 -   Upgrade stdgpu third-party library to commit 0bebd1f.
+-   Upgrade msgpack-c 3.3.0 -> msgpack-cxx 7.0.0 for compatibility with MSVC's standards-conforming preprocessor (`/Zc:preprocessor`) used by CUDA 13.2 CCCL headers.
 -   Fix performance for non-contiguous NumPy array conversion in pybind vector converters. This change removes restrictive `py::array::c_style` flags and adds a runtime contiguity check, improving Pandas-to-Open3D conversion speed by up to ~50×. (issue #5250)(PR #7343).
 -   Corrected documentation for Link Open3D in C++ projects (broken links).
 -   Fix DLLs not being found in Python-package. Also prevent PATH from being searched for DLLs, except CUDA (PR #7108)

From 0f309bdffdfdf18dbb79f5bea57aa57d121de96a Mon Sep 17 00:00:00 2001
From: johnnynunez <johnnynuca14@gmail.com>
Date: Wed, 13 May 2026 00:43:45 +0200
Subject: [PATCH 19/19] Define MSGPACK_NO_BOOST to drop msgpack-cxx Boost
 dependency

msgpack-cxx 4.0+ includes <boost/predef/other/endian.h> by default for
endianness detection, which Open3D's Linux Docker images do not provide.
The library bundles a Boost-free fallback gated on MSGPACK_NO_BOOST;
propagate that definition through the imported target so all consumers
of <msgpack.hpp> use msgpack/predef/other/endian.h instead.
---
 3rdparty/find_dependencies.cmake | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index 02f7b58f3d7..803bfd38429 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -1503,6 +1503,10 @@ if(NOT USE_SYSTEM_MSGPACK)
         INCLUDE_DIRS ${MSGPACK_INCLUDE_DIRS}
         DEPENDS      ext_msgpack-c
     )
+    # msgpack-cxx >= 4.0 pulls in <boost/predef/other/endian.h> by default for
+    # endianness detection. Open3D does not depend on Boost, so opt into the
+    # bundled msgpack/predef/* fallback via MSGPACK_NO_BOOST.
+    target_compile_definitions(3rdparty_msgpack INTERFACE MSGPACK_NO_BOOST)
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_msgpack)
 else()
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_msgpack)