An exhaust valve rocker arm assembly selectively opening first and second exhaust valves includes an exhaust rocker arm, an engagement capsule, a valve bridge operably associated with the rocker arm and including a main body, and a hydraulic actuator assembly disposed at least partially within an aperture formed within the main body. The hydraulic actuator assembly includes a first piston body and a second piston body disposed at least partially within the aperture formed in the main body. The exhaust rocker arm is configured to engage the valve bridge main body to engage the first exhaust valve, and the engagement capsule is configured to engage the hydraulic actuator to engage the second exhaust valve.