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I assume you're talking about Autoware.ai because your question does not say Ai or Auto. The Xavier is not an officially-supported platform but the Autoware.ai stack is currently being built for arm64-based hardware (from source and in Docker containers). All you have to do to enable compilation with CUDA is set the environment variable AUTOWARE_COMPILE_WITH_CUDA=1. See these instructions for more information. However, as I said, it is not an officially-supported or tested environment so I wish you luck.

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