diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 86a210b0b..75844a5ea 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -264,6 +264,14 @@ jobs:
       run: |
         build_helpers/publish_docker.sh
 
+    # We need docker experimental to pull the ARM image.
+    - name: Switch docker to experimental
+      run: |
+          docker version -f '{{.Server.Experimental}}'
+          echo $'{\n    "experimental": true\n}' | sudo tee /etc/docker/daemon.json
+          sudo systemctl restart docker
+          docker version -f '{{.Server.Experimental}}'
+
     - name: Set up Docker Buildx
       id: buildx
       uses: crazy-max/ghaction-docker-buildx@v1
diff --git a/build_helpers/publish_docker_pi.sh b/build_helpers/publish_docker_pi.sh
index f6424c335..52a8164c4 100755
--- a/build_helpers/publish_docker_pi.sh
+++ b/build_helpers/publish_docker_pi.sh
@@ -16,8 +16,8 @@ if [ "${GITHUB_EVENT_NAME}" = "schedule" ]; then
 else
     echo "event ${GITHUB_EVENT_NAME}: building with cache"
     # Pull last build to avoid rebuilding the whole image
-    docker pull --platform ${PI_PLATFORM} ${IMAGE_NAME}:${TAG}
-    docker buildx build --cache-from ${IMAGE_NAME}:${TAG} -f Dockerfile.armhf --platform ${PI_PLATFORM} -t ${IMAGE_NAME}:${TAG} --push .
+    # docker pull --platform ${PI_PLATFORM} ${IMAGE_NAME}:${TAG}
+    docker buildx build --cache-from=type=registry,ref=${IMAGE_NAME}:${TAG} -f Dockerfile.armhf --platform ${PI_PLATFORM} -t ${IMAGE_NAME}:${TAG} --push .
 fi
 
 if [ $? -ne 0 ]; then