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I found a partial fix. You have to run:
```
sudo nvidia-ctk cdi generate --output=/etc/cdi/nvidia.yaml
```

After this, podman is able to run it:
```
sudo podman run --rm --device nvidia.com/gpu=all ubuntu nvidia-smi -L
GPU 0: NVIDIA GeForce GTX 1060 3GB (UUID: GPU-...)
```

However, Docker still gets the same error. Unfortunately, I need this to run in Docker specifically, not podman, so the question is still open.