1 安装NVIDEA驱动

$ ubuntu-drivers devices
== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
modalias : pci:v000010DEd00001C03sv00001B4Csd000011D7bc03sc00i00
vendor   : NVIDIA Corporation
model    : GP106 [GeForce GTX 1060 6GB]
driver   : nvidia-driver-450-server - distro non-free
driver   : nvidia-driver-450 - distro non-free
driver   : nvidia-driver-390 - distro non-free
driver   : nvidia-driver-460 - distro non-free recommended
driver   : nvidia-driver-418-server - distro non-free
driver   : xserver-xorg-video-nouveau - distro free builtin

安装指定版本的驱动，一般安装推荐的版本(recommended)即可，我此处安装的是450版本。
sudo apt install nvidia-driver-450

2 安装CUDA

存档见https://developer.nvidia.com/cuda-toolkit-archive