diff --git a/docker/base/build.sh b/docker/base/build.sh
index a4191b05..1b5c72d3 100755
--- a/docker/base/build.sh
+++ b/docker/base/build.sh
@@ -1,16 +1,16 @@
 cp /etc/apt/trusted.gpg.d/jetson-ota-public.asc ../.. # copy to jetbot root
 
-if [[ "$L4T_VERSION" == "32.4.3" ]]
-then
-    BASE_IMAGE=nvcr.io/nvidia/l4t-pytorch:r32.4.3-pth1.6-py3
-elif [[ "$L4T_VERSION" == "32.4.4" ]]
-then
-    BASE_IMAGE=nvcr.io/nvidia/l4t-pytorch:r32.4.4-pth1.6-py3
-fi
+BASE_IMAGE=$1
+
+echo "sudo docker build \
+    --build-arg BASE_IMAGE=$BASE_IMAGE \
+    -t jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -f Dockerfile \
+    ../.."  # jetbot repo root as context
 
 sudo docker build \
     --build-arg BASE_IMAGE=$BASE_IMAGE \
-    -t $JETBOT_DOCKER_REMOTE/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
     -f Dockerfile \
     ../..  # jetbot repo root as context
 
diff --git a/docker/build.sh b/docker/build.sh
index cf7dae1e..fa6a32de 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -1,4 +1,22 @@
-cd base && ./build.sh && cd ..
+BASE_IMAGE=$1
+
+# find L4T_VERSION
+source ../scripts/l4t-version.sh
+
+if [ -z $BASE_IMAGE ]; then
+	if [ $L4T_VERSION = "32.4.4" ]; then
+		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.4-pth1.6-py3"
+	else
+		echo "cannot build jetbot docker containers for L4T R$L4T_VERSION"
+		echo "please upgrade to the latest JetPack, or build jetson-inference natively"
+		exit 1
+	fi
+fi
+
+echo "cd base && ./build.sh $BASE_IMAGE && cd .."
+cd base && ./build.sh $BASE_IMAGE && cd ..
+
+echo "cd models && ./build.sh && cd .."
 cd models && ./build.sh && cd ..
 cd display && ./build.sh && cd ..
 cd jupyter && ./build.sh && cd ..
diff --git a/docker/camera/build.sh b/docker/camera/build.sh
index 461f1e22..192476e2 100755
--- a/docker/camera/build.sh
+++ b/docker/camera/build.sh
@@ -1,4 +1,4 @@
 sudo docker build \
-    --build-arg BASE_IMAGE=$JETBOT_DOCKER_REMOTE/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
-    -t $JETBOT_DOCKER_REMOTE/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION \
+    --build-arg BASE_IMAGE=jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION \
     -f Dockerfile .
diff --git a/docker/camera/enable.sh b/docker/camera/enable.sh
index 66e60486..27a786c7 100755
--- a/docker/camera/enable.sh
+++ b/docker/camera/enable.sh
@@ -10,4 +10,4 @@ sudo docker run -it -d \
     --volume /tmp/argus_socket:/tmp/argus_socket \
     --privileged \
     --name=jetbot_camera \
-    $JETBOT_DOCKER_REMOTE/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION
+    jetbot/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION
diff --git a/docker/configure.sh b/docker/configure.sh
index f8e2a79a..ce8eb8c6 100755
--- a/docker/configure.sh
+++ b/docker/configure.sh
@@ -1,21 +1,14 @@
 #!/bin/bash
 
 export JETBOT_VERSION=0.4.2
+echo "export JETBOT_VERSION=$JETBOT_VERSION"
 
 L4T_VERSION_STRING=$(head -n 1 /etc/nv_tegra_release)
 L4T_RELEASE=$(echo $L4T_VERSION_STRING | cut -f 2 -d ' ' | grep -Po '(?<=R)[^;]+')
 L4T_REVISION=$(echo $L4T_VERSION_STRING | cut -f 2 -d ',' | grep -Po '(?<=REVISION: )[^;]+')
 
 export L4T_VERSION="$L4T_RELEASE.$L4T_REVISION"
-
-if [[ "$L4T_VERSION" == "32.4.3" ]]
-then
-    # docker hub
-    export JETBOT_DOCKER_REMOTE=jetbot
-elif [[ "$L4T_VERSION" == "32.4.4" ]]
-then
-    export JETBOT_DOCKER_REMOTE=jetbot
-fi
+echo "export L4T_VERSION=$L4T_RELEASE.$L4T_REVISION"
 
 ./set_nvidia_runtime.sh
 sudo systemctl enable docker
@@ -25,6 +18,8 @@ SYSTEM_RAM_KILOBYTES=$(awk '/^MemTotal:/{print $2}' /proc/meminfo)
 
 if [ $SYSTEM_RAM_KILOBYTES -gt 3000000 ]
 then
+    echo "export JETBOT_JUPYTER_MEMORY=500m"
+    echo "export JETBOT_JUPYTER_MEMORY_SWAP=3G"
     export JETBOT_JUPYTER_MEMORY=500m
     export JETBOT_JUPYTER_MEMORY_SWAP=3G
 fi
diff --git a/docker/display/build.sh b/docker/display/build.sh
index 862f005f..8e55e7b5 100755
--- a/docker/display/build.sh
+++ b/docker/display/build.sh
@@ -1,5 +1,5 @@
 sudo docker build \
-    --build-arg BASE_IMAGE=$JETBOT_DOCKER_REMOTE/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
-    -t $JETBOT_DOCKER_REMOTE/jetbot:display-$JETBOT_VERSION-$L4T_VERSION \
+    --build-arg BASE_IMAGE=jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:display-$JETBOT_VERSION-$L4T_VERSION \
     -f Dockerfile .
 
diff --git a/docker/display/enable.sh b/docker/display/enable.sh
index d0c68e6f..7a279a05 100755
--- a/docker/display/enable.sh
+++ b/docker/display/enable.sh
@@ -4,4 +4,4 @@ sudo docker run -it -d \
     --network host \
     --privileged \
     --name=jetbot_display \
-    $JETBOT_DOCKER_REMOTE/jetbot:display-$JETBOT_VERSION-$L4T_VERSION
+    jetbot/jetbot:display-$JETBOT_VERSION-$L4T_VERSION
diff --git a/docker/jupyter/build.sh b/docker/jupyter/build.sh
index ffebcabe..cccaee0a 100755
--- a/docker/jupyter/build.sh
+++ b/docker/jupyter/build.sh
@@ -1,4 +1,4 @@
 sudo docker build \
-    --build-arg BASE_IMAGE=$JETBOT_DOCKER_REMOTE/jetbot:models-$JETBOT_VERSION-$L4T_VERSION \
-    -t $JETBOT_DOCKER_REMOTE/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION \
+    --build-arg BASE_IMAGE=jetbot/jetbot:models-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION \
     -f Dockerfile .
diff --git a/docker/jupyter/enable.sh b/docker/jupyter/enable.sh
index 31249d0d..33daef2b 100755
--- a/docker/jupyter/enable.sh
+++ b/docker/jupyter/enable.sh
@@ -24,7 +24,7 @@ then
 	    --name=jetbot_jupyter \
 	    --memory-swap=$JETBOT_JUPYTER_MEMORY_SWAP \
 	    --env JETBOT_DEFAULT_CAMERA=$JETBOT_CAMERA \
-	    $JETBOT_DOCKER_REMOTE/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
+	    jetbot/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
 
 else
 
@@ -43,6 +43,6 @@ else
 	    --memory=$JETBOT_JUPYTER_MEMORY \
 	    --memory-swap=$JETBOT_JUPYTER_MEMORY_SWAP \
 	    --env JETBOT_DEFAULT_CAMERA=$JETBOT_CAMERA \
-	    $JETBOT_DOCKER_REMOTE/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
+	    jetbot/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
 
 fi
diff --git a/docker/models/build.sh b/docker/models/build.sh
index 740c14b1..b1e54d5c 100755
--- a/docker/models/build.sh
+++ b/docker/models/build.sh
@@ -1,4 +1,9 @@
+echo "sudo docker build \
+    --build-arg BASE_IMAGE=jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:models-$JETBOT_VERSION-$L4T_VERSION \
+    -f Dockerfile ."
+
 sudo docker build \
-    --build-arg BASE_IMAGE=$JETBOT_DOCKER_REMOTE/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
-    -t $JETBOT_DOCKER_REMOTE/jetbot:models-$JETBOT_VERSION-$L4T_VERSION \
+    --build-arg BASE_IMAGE=jetbot/jetbot:base-$JETBOT_VERSION-$L4T_VERSION \
+    -t jetbot/jetbot:models-$JETBOT_VERSION-$L4T_VERSION \
     -f Dockerfile .
diff --git a/docker/push.sh b/docker/push.sh
index b8666a99..ce61fd01 100755
--- a/docker/push.sh
+++ b/docker/push.sh
@@ -1,5 +1,5 @@
 #!/bin/bash
 
-sudo docker push $JETBOT_DOCKER_REMOTE/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION
-sudo docker push $JETBOT_DOCKER_REMOTE/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
-sudo docker push $JETBOT_DOCKER_REMOTE/jetbot:display-$JETBOT_VERSION-$L4T_VERSION
+sudo docker push jetbot/jetbot:camera-$JETBOT_VERSION-$L4T_VERSION
+sudo docker push jetbot/jetbot:jupyter-$JETBOT_VERSION-$L4T_VERSION
+sudo docker push jetbot/jetbot:display-$JETBOT_VERSION-$L4T_VERSION
diff --git a/scripts/l4t-version.sh b/scripts/l4t-version.sh
new file mode 100755
index 00000000..60d75d67
--- /dev/null
+++ b/scripts/l4t-version.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+#
+# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
+#
+
+L4T_VERSION_STRING=$(head -n 1 /etc/nv_tegra_release)
+
+if [ -z "$L4T_VERSION_STRING" ]; then
+	echo "reading L4T version from \"dpkg-query --show nvidia-l4t-core\""
+
+	L4T_VERSION_STRING=$(dpkg-query --showformat='${Version}' --show nvidia-l4t-core)
+	L4T_VERSION_ARRAY=(${L4T_VERSION_STRING//./ })	
+
+	#echo ${L4T_VERSION_ARRAY[@]}
+	#echo ${#L4T_VERSION_ARRAY[@]}
+
+	L4T_RELEASE=${L4T_VERSION_ARRAY[0]}
+	L4T_REVISION=${L4T_VERSION_ARRAY[1]}
+else
+	echo "reading L4T version from /etc/nv_tegra_release"
+
+	L4T_RELEASE=$(echo $L4T_VERSION_STRING | cut -f 2 -d ' ' | grep -Po '(?<=R)[^;]+')
+	L4T_REVISION=$(echo $L4T_VERSION_STRING | cut -f 2 -d ',' | grep -Po '(?<=REVISION: )[^;]+')
+fi
+
+L4T_REVISION_MAJOR=${L4T_REVISION:0:1}
+L4T_REVISION_MINOR=${L4T_REVISION:2:1}
+
+L4T_VERSION="$L4T_RELEASE.$L4T_REVISION"
+
+echo "L4T BSP Version:  L4T R$L4T_VERSION"