diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index c3ced68a7..502ff6f87 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -180,13 +180,19 @@ jobs:
           "source /usr/local/bin/teleop-env-setup && ros2 --help > /dev/null && python3 -c \"import rclpy; rclpy.init(); rclpy.shutdown(); print('rclpy OK')\""
 
   test-cloudxr:
-    runs-on: [self-hosted, linux, gpu, "${{ matrix.arch }}"]
+    runs-on:
+      - "${{ matrix.runner_label }}"
     needs: build-ubuntu
 
     strategy:
       matrix:
         python_version: ['3.10', '3.11', '3.12']
         arch: ['x64', 'arm64']
+        include:
+          - arch: x64
+            runner_label: linux-amd64-gpu-l4-latest-1
+          - arch: arm64
+            runner_label: linux-arm64-gpu-l4-latest-1
 
     steps:
     - name: Checkout code