diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index bce4e90f4d7..622c8005ef6 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -3,6 +3,11 @@ permissions: {}
 
 on:
   workflow_dispatch:
+    inputs:
+      developer_build:
+        description: 'Set to OFF for Release wheels'
+        required: false
+        default: 'ON'
   push:
     branches:
       - main
@@ -16,11 +21,12 @@ concurrency:
 env:
   NPROC: 2
   GCE_CLI_GHA_VERSION: "416.0.0"
+  DEVELOPER_BUILD: ${{ github.event.inputs.developer_build || 'ON' }}
 
 jobs:
   ubuntu-sycl:
     permissions:
-      contents: read
+      contents: write  # Release upload
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
diff --git a/.github/workflows/ubuntu-wheel.yml b/.github/workflows/ubuntu-wheel.yml
index 411fe6a37bb..684a13a462a 100644
--- a/.github/workflows/ubuntu-wheel.yml
+++ b/.github/workflows/ubuntu-wheel.yml
@@ -109,7 +109,7 @@ jobs:
       - name: Upload ccache to GCS
         if: ${{ github.ref == 'refs/heads/main' }}
         run: |
-          gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.gz gs://open3d-ci-cache/
+          gsutil cp ${GITHUB_WORKSPACE}/${{ env.CCACHE_TAR_NAME }}.tar.xz gs://open3d-ci-cache/
       - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' }}
         env:
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index a782265a553..13f6501c8de 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -1383,8 +1383,8 @@ if(BUILD_GUI)
 
             # Ensure that libstdc++ gets linked first.
             target_link_libraries(3rdparty_filament INTERFACE -lstdc++
-                                  ${CPP_LIBRARY} ${CPPABI_LIBRARY})
-            message(STATUS "Filament C++ libraries: ${CPP_LIBRARY} ${CPPABI_LIBRARY}")
+                                  ${CPP_LIBRARY}.1 ${CPPABI_LIBRARY})
+            message(STATUS "Filament C++ libraries: ${CPP_LIBRARY}.1 ${CPPABI_LIBRARY}")
             if (LIBCPP_VERSION GREATER 11)
                 message(WARNING "libc++ (LLVM) version ${LIBCPP_VERSION} > 11 includes libunwind that "
                 "interferes with the system libunwind.so.8 and may crash Python code when exceptions "
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index c15dabae54a..d43f1676806 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -95,7 +95,7 @@ RUN apt-get update && apt-get install -y \
         && c++ -v; \
     fi \
  && rm -rf /var/lib/apt/lists/*
-# OneDPL TBB backend requires libstdc++ >= v11. This makes the created wheel UBuntu 22.04+ only.
+# OneDPL TBB backend requires libstdc++ >= v11. This makes the created wheel Ubuntu 22.04+ only.
 
 # pyenv
 # The pyenv python paths are used during docker run, in this way docker run
@@ -166,7 +166,12 @@ COPY . /root/Open3D
 WORKDIR /root/Open3D
 
 # Open3D C++ dependencies
-RUN ./util/install_deps_ubuntu.sh assume-yes
+# If BUILD_SYCL_MODULE=ON, do not install clang - this installs libomp5-dev which gets linked into the shared library.
+RUN if [[ "$(uname -m)" = "x86_64" ]] ; then \
+        ./util/install_deps_ubuntu.sh assume-yes no-filament-deps ; \
+    else \
+        ./util/install_deps_ubuntu.sh assume-yes ; \
+    fi
 
 # Open3D Python dependencies
 RUN source util/ci_utils.sh \
diff --git a/docker/Dockerfile.docs b/docker/Dockerfile.docs
new file mode 100755
index 00000000000..5dd9dae51af
--- /dev/null
+++ b/docker/Dockerfile.docs
@@ -0,0 +1,98 @@
+# FROM must be called before other ARGS except for ARG BASE_IMAGE
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+# For bash-specific commands
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Required build args, should be specified in docker_build.sh
+ARG DEVELOPER_BUILD
+ARG PYTHON_VERSION
+ARG CI
+
+RUN if [[ -z "${DEVELOPER_BUILD}"      ]]; then echo "Error: ARG DEVELOPER_BUILD      not specified."; exit 1; fi \
+ && if [[ -z "${PYTHON_VERSION}"       ]]; then echo "Error: ARG PYTHON_VERSION       not specified."; exit 1; fi
+
+# Forward all ARG to ENV
+# ci_utils.sh may require these environment variables
+ENV DEVELOPER_BUILD=${DEVELOPER_BUILD}
+ENV PYTHON_VERSION=${PYTHON_VERSION}
+
+# Prevent interactive inputs when installing packages
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=America/Los_Angeles
+ENV SUDO=command
+ENV OPEN3D_ML_ROOT=/root/Open3D-ML
+
+# Always keep /root/Open3D as the WORKDIR
+WORKDIR /root/Open3D
+COPY util/ci_utils.sh util/install_deps_ubuntu.sh util/
+COPY python/requirements*.txt python/
+COPY docs/requirements.txt docs/
+
+# Dependencies: basic and python-build
+RUN apt-get update && apt-get install -y \
+    git  \
+    curl \
+    build-essential \
+    pkg-config \
+    zlib1g \
+    zlib1g-dev \
+    libssl-dev \
+    libbz2-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libncursesw5-dev \
+    xz-utils \
+    tk-dev \
+    libxml2-dev \
+    libxmlsec1-dev \
+    libffi-dev \
+    liblzma-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+# Checkout Open3D-ML main branch
+RUN git clone --depth 1 https://github.com/isl-org/Open3D-ML.git ${OPEN3D_ML_ROOT}
+# Open3D docs dependencies
+RUN source util/ci_utils.sh && install_docs_dependencies "${OPEN3D_ML_ROOT}"
+
+# Download ccache from GCS bucket
+# If it doesn't exist on the cloud, an empty ${CCACHE_DIR} will be created.
+# Example directory structure:
+# - CCACHE_DIR        = ~/.cache/ccache
+# - CCACHE_DIR_NAME   = ccache
+# - CCACHE_DIR_PARENT = ~/.cache
+# We need to set ccache size explicitly with -M, otherwise the defualt size is
+# *not* determined by ccache's default, but the downloaded ccache file's config.
+RUN CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
+ && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
+ && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
+ && CCACHE_TAR_NAME="open3d-ci-cpu" \
+ && mkdir -p ${CCACHE_DIR_PARENT} \
+ && cd ${CCACHE_DIR_PARENT} \
+ && (curl -s -O https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz || true) \
+ && if [ -f ${CCACHE_TAR_NAME}.tar.xz ]; then tar -xf ${CCACHE_TAR_NAME}.tar.xz || true; fi \
+ && mkdir -p ${CCACHE_DIR} \
+ && ccache -M 4G \
+ && ccache -s
+
+# Open3D repo
+COPY . /root/Open3D
+
+# PWD: Open3D/docs after build_docs
+# Docs in docs/_out/html
+RUN source util/ci_utils.sh && build_docs "$DEVELOPER_BUILD" \
+&& ccache -s \
+tar -C _out -cvzf "/root/Open3D/open3d-$(git rev-parse HEAD)-docs.tar.gz" html
+
+# Compress ccache folder, move to / directory
+RUN ccache -s \
+ && CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
+ && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
+ && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
+ && cd ${CCACHE_DIR_PARENT} \
+ && tar -caf /${CCACHE_TAR_NAME}.tar.xz ${CCACHE_DIR_NAME} \
+ && mv /root/Open3D/build/package/open3d-devel*.tar.xz /; fi \
+ && ls -alh /
+
+RUN echo "Docker documentation build done."
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index 176657c795b..5ff0a1a0942 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -449,7 +449,7 @@ sycl-shared_export_env() {
     # https://hub.docker.com/r/intel/oneapi-basekit
     # https://github.com/intel/oneapi-containers/blob/master/images/docker/basekit/Dockerfile.ubuntu-20.04
     export BASE_IMAGE=intel/oneapi-basekit:2024.1.0-devel-ubuntu20.04
-    export DEVELOPER_BUILD=ON
+    export DEVELOPER_BUILD=${DEVELOPER_BUILD:-ON}
     export CCACHE_TAR_NAME=open3d-ci-sycl
     export PYTHON_VERSION=3.10
     export BUILD_SHARED_LIBS=ON
diff --git a/docs/sycl.rst b/docs/sycl.rst
index e17d085f79f..24342397ec1 100644
--- a/docs/sycl.rst
+++ b/docs/sycl.rst
@@ -30,8 +30,7 @@ and (optionally) SYCL runtime for your `Nvidia
 <https://developer.codeplay.com/products/oneapi/amd/download>`_ GPU.
 
 For Python, the wheels will automatically install the DPC++ runtime package
-(`dpcpp-cpp-rt`).  You will also need `libomp5` installed: `apt-get install
-libomp5-11`. Make sure to have the `correct drivers installed 
+(`dpcpp-cpp-rt`).  Make sure to have the `correct drivers installed 
 <https://dgpu-docs.intel.com/driver/client/overview.html>`_ for your GPU. For
 raycasting on Intel GPUs, you will also need the
 `intel-level-zero-gpu-raytracing` package.
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index b6110110d7b..0d798ca9139 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -340,27 +340,29 @@ test_cpp_example() {
 # Usage: install_docs_dependencies "${OPEN3D_ML_ROOT}"
 install_docs_dependencies() {
     echo
-    echo Install ubuntu dependencies
-    ./util/install_deps_ubuntu.sh assume-yes
-    sudo apt-get install --yes cmake
-    sudo apt-get install --yes libxml2-dev libxslt-dev python3-dev
-    sudo apt-get install --yes doxygen
-    sudo apt-get install --yes texlive
-    sudo apt-get install --yes texlive-latex-extra
-    sudo apt-get install --yes ghostscript
-    sudo apt-get install --yes pandoc
-    sudo apt-get install --yes ccache
+    echo Install ubuntu dependencies from $(pwd)
+    util/install_deps_ubuntu.sh assume-yes
+    $SUDO apt-get install --yes \
+        libxml2-dev libxslt-dev \
+        python3-dev python-is-python3 python3-pip \
+        doxygen \
+        texlive \
+        texlive-latex-extra \
+        ghostscript \
+        pandoc \
+        ccache
     echo
     echo Install Python dependencies for building docs
     command -v python
     python -V
     python -m pip install -U -q "pip==$PIP_VER"
-    python -m pip install -U -q -c "${OPEN3D_SOURCE_ROOT}/python/requirements_build.txt" wheel yapf
+    which cmake || python -m pip install -U -q cmake
+    python -m pip install -U -q -r "${OPEN3D_SOURCE_ROOT}/python/requirements_build.txt"
     if [[ -d "$1" ]]; then
         OPEN3D_ML_ROOT="$1"
         echo Installing Open3D-ML dependencies from "${OPEN3D_ML_ROOT}"
         python -m pip install -r "${OPEN3D_ML_ROOT}/requirements.txt"
-        python -m pip install -r "${OPEN3D_ML_ROOT}/requirements-torch.txt"
+        python -m pip install -r "${OPEN3D_ML_ROOT}/requirements-torch-cxx11-abi.txt"
         python -m pip install -r "${OPEN3D_ML_ROOT}/requirements-tensorflow.txt"
     else
         echo OPEN3D_ML_ROOT="$OPEN3D_ML_ROOT" not specified or invalid. Skipping ML dependencies.
@@ -396,9 +398,8 @@ build_docs() {
         "-DWITH_OPENMP=ON"
         "-DBUILD_AZURE_KINECT=ON"
         "-DBUILD_LIBREALSENSE=ON"
-        "-DGLIBCXX_USE_CXX11_ABI=OFF"
-        # TODO: PyTorch still use old CXX ABI, re-enable Tensorflow when PyTorch is updated to use new ABI
-        "-DBUILD_TENSORFLOW_OPS=OFF"
+        "-DGLIBCXX_USE_CXX11_ABI=ON"
+        "-DBUILD_TENSORFLOW_OPS=ON"
         "-DBUILD_PYTORCH_OPS=ON"
         "-DBUILD_EXAMPLES=OFF"
     )
diff --git a/util/install_deps_ubuntu.sh b/util/install_deps_ubuntu.sh
index 2786b19c23b..4b3200ca257 100755
--- a/util/install_deps_ubuntu.sh
+++ b/util/install_deps_ubuntu.sh
@@ -1,13 +1,17 @@
 #!/usr/bin/env bash
-# Use: install_deps_ubuntu.sh [ assume-yes ]
+# Use: install_deps_ubuntu.sh [ assume-yes ] [ no-filament-deps ]
 
 set -ev
 
 SUDO=${SUDO:=sudo} # SUDO=command in docker (running as root, sudo not available)
-if [ "$1" == "assume-yes" ]; then
+options="$(echo "$@" | tr ' ' '|')"
+APT_CONFIRM=""
+if [[ "assume-yes" =~ ^($options)$ ]]; then
     APT_CONFIRM="--assume-yes"
-else
-    APT_CONFIRM=""
+fi
+FILAMENT_DEPS="yes"
+if [[ "no-filament-deps" =~ ^($options)$ ]]; then
+    FILAMENT_DEPS=""
 fi
 
 deps=(
@@ -17,12 +21,10 @@ deps=(
     libxcb-shm0
     libglu1-mesa-dev
     python3-dev
-    # Filament build-from-source
-    clang
+    # filament linking
     libc++-dev
     libc++abi-dev
     libsdl2-dev
-    ninja-build
     libxi-dev
     # ML
     libtbb-dev
@@ -34,6 +36,12 @@ deps=(
     libtool
 )
 
+if [[ "$FILAMENT_DEPS" ]]; then     # Filament build-from-source
+    deps+=(clang
+        ninja-build
+    )
+fi
+
 eval $(
     source /etc/lsb-release;
     echo DISTRIB_ID="$DISTRIB_ID";