I have successfully installed Caffe on my Jetson TK1 (L4T 21.4, CUDA 6.5, cuDNNv2). The tests for caffee are working fine (make -j 4 all; make -j 4 test; make -j 4 runtest), and I was able to use caffe to classify images from the ImageNet database follwing this example:
http://nbviewer.jupyter.org/github/BVLC/caffe/blob/master/examples/00-classification.ipynb