diff --git a/docker/README.md b/docker/README.md
new file mode 100644
index 000000000..4dec63b94
--- /dev/null
+++ b/docker/README.md
@@ -0,0 +1,16 @@
+# Instructions
+
+Build all docker images, in order:
+
+```bash
+(cd ubuntu-boost-tbb && exec build.sh)
+(cd ubuntu-gtsam && exec build.sh)
+(cd ubuntu-gtsam-python && exec build.sh)
+(cd ubuntu-gtsam-python-vnc && exec build.sh)
+```
+
+Then launch with: 
+
+    docker run dellaert/ubuntu-gtsam-python-vnc:bionic
+
+
diff --git a/docker/ubuntu-boost-tbb/build.sh b/docker/ubuntu-boost-tbb/build.sh
new file mode 100755
index 000000000..2dac4c3db
--- /dev/null
+++ b/docker/ubuntu-boost-tbb/build.sh
@@ -0,0 +1,3 @@
+# Build command for Docker image
+# TODO(dellaert): use docker compose and/or cmake
+docker build --no-cache -t dellaert/ubuntu-boost-tbb:bionic .
diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile
index 26f995c56..61ecd9b9a 100644
--- a/docker/ubuntu-gtsam-python-vnc/Dockerfile
+++ b/docker/ubuntu-gtsam-python-vnc/Dockerfile
@@ -1,18 +1,18 @@
 # This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
 
 # Get the base Ubuntu/GTSAM image from Docker Hub
-FROM dellaert/ubuntu-gtsam-python:latest
+FROM dellaert/ubuntu-gtsam-python:bionic
 
 # Things needed to get a python GUI
 ENV DEBIAN_FRONTEND noninteractive
 RUN apt install -y python-tk
-RUN pip install matplotlib
+RUN python3 -m pip install matplotlib
 
 # Install a VNC X-server, Frame buffer, and windows manager
 RUN apt install -y x11vnc xvfb fluxbox
 
 # Finally, install wmctrl needed for bootstrap script
-RUN apt install -y wmctrl 
+RUN apt install -y wmctrl
 
 # Copy bootstrap script and make sure it runs
 COPY bootstrap.sh /
diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile
index 71787d480..c733ceb19 100644
--- a/docker/ubuntu-gtsam-python/Dockerfile
+++ b/docker/ubuntu-gtsam-python/Dockerfile
@@ -1,7 +1,7 @@
 #  GTSAM Ubuntu image with Python wrapper support.
 
 # Get the base Ubuntu/GTSAM image from Docker Hub
-FROM dellaert/ubuntu-gtsam:latest
+FROM dellaert/ubuntu-gtsam:bionic
 
 # Install pip
 RUN apt-get install -y python3-pip python3-dev
@@ -25,7 +25,7 @@ RUN cmake \
 RUN make -j4 install && make clean
 
 # Needed to run python wrapper:
-RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc 
+RUN echo 'export PYTHONPATH=/usr/local/cython/:$PYTHONPATH' >> /root/.bashrc
 
 # Run bash
 CMD ["bash"]
diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile
index 393443361..187c76314 100644
--- a/docker/ubuntu-gtsam/Dockerfile
+++ b/docker/ubuntu-gtsam/Dockerfile
@@ -1,10 +1,10 @@
 # Ubuntu image with GTSAM installed. Configured with  Boost and TBB support.
 
 # Get the base Ubuntu image from Docker Hub
-FROM dellaert/ubuntu-boost-tbb:latest
+FROM dellaert/ubuntu-boost-tbb:bionic
 
 # Install git
-RUN apt-get update && \ 
+RUN apt-get update && \
     apt-get install -y git
 
 # Install compiler
@@ -30,7 +30,7 @@ RUN cmake \
 RUN make -j4 install && make clean
 
 # Needed to link with GTSAM
-RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc 
+RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc
 
 # Run bash
 CMD ["bash"]