diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 0000000..491ddb7
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,79 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
+name: Docker - Build VLFM Docker
+
+on:
+  pull_request:
+    paths:
+      - ".github/workflows/docker.yml"
+      - "docker/**"
+  push:
+    branches:
+      - 'main'
+    paths:
+      - ".github/workflows/docker.yml"
+      - "docker/**"
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ghcr.io/bdaiinstitute/bdaii_vlfm
+
+
+jobs:
+  build:
+    name: docker_vlfm
+
+    runs-on:
+      group: bdai-gh-large-runners
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      # Workaround: https://github.com/docker/build-push-action/issues/461
+      - name: Setup Docker buildx
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+
+      # Login against a Docker registry except on PR
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # Build and push Docker image with Buildx (don't push on PR)
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker image
+        id: build-and-push
+        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a
+        with:
+          context: ./docker
+          file: ./docker/Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 8464618..6caa3c0 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,31 +1,22 @@
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
-name: ZSOS - Main Build
-
+name: VLFM CI
 on:
-  push:
-    branches: [ main ]
   pull_request:
+  push:
+    branches:
+      - main
 
 jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        python-version: ['3.9.16']
-        os: [ubuntu-latest]
+  vlfm_main_build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    container:
+      image: ghcr.io/bdaiinstitute/bdaii_vlfm:main
     steps:
     - uses: actions/checkout@v3
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v4
-      with:
-        python-version: ${{ matrix.python-version }}
-    - name: Install package
-      run: |
-        sudo apt-get install -y libgl1-mesa-dev
-        pip install -e .[habitat]
-        pip install -e .[dev]
     - name: Pytest
       run: |
         pytest test
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..3a797d1
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,36 @@
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+      && apt-get install --no-install-recommends -qy curl apt-transport-https gnupg \
+      sudo ca-certificates git software-properties-common \
+      build-essential \
+      libgl1-mesa-dev libjpeg-dev libglm-dev libgl1-mesa-glx \
+      libegl1-mesa-dev mesa-utils xorg-dev freeglut3-dev \
+      python3.10-dev python3-pip python-is-python3 \
+      && rm -rf /var/lib/apt/lists/* \
+      && apt-get clean all
+
+# Install the required Python packages
+RUN pip install torch>=1.10.1 \
+    numpy>=1.22.4 \
+    flask>=2.3.2 \
+    seaborn>=0.12.2 \
+    open3d>=0.17.0 \
+    transformers==4.26.0 \
+    salesforce-lavis>=1.0.2 \
+    git+https://github.com/naokiyokoyama/frontier_exploration.git \
+    git+https://github.com/ChaoningZhang/MobileSAM.git \
+    git+https://github.com/naokiyokoyama/depth_camera_filtering \
+    git+https://github.com/IDEA-Research/GroundingDINO.git \
+    pre-commit>=3.1.1 \
+    pytest>=7.2.1 \
+    pytest-cov>=4.0.0 \
+    git+https://github.com/facebookresearch/habitat-sim.git@v0.2.4 \
+    habitat-baselines==0.2.420230405 \
+    habitat-lab==0.2.420230405 \
+    git+https://github.com/naokiyokoyama/bd_spot_wrapper.git \
+    bosdyn-client>=3.3.2 \
+    bosdyn-api>=3.3.2 \
+    six>=1.16.0
diff --git a/pyproject.toml b/pyproject.toml
index a00064a..1074931 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -24,6 +24,7 @@ dependencies = [
     "frontier_exploration @ git+https://github.com/naokiyokoyama/frontier_exploration.git",
     "mobile_sam @ git+https://github.com/ChaoningZhang/MobileSAM.git",
     "depth_camera_filtering @ git+https://github.com/naokiyokoyama/depth_camera_filtering",
+    "groundingdino @ git+https://github.com/IDEA-Research/GroundingDINO.git",
 ]
 
 [project.optional-dependencies]
diff --git a/setup.py b/setup.py
index f44ef52..91662f4 100644
--- a/setup.py
+++ b/setup.py
@@ -1,5 +1,44 @@
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
+import subprocess
+from pathlib import Path
 from setuptools import setup
+from setuptools.command.develop import develop
 
-setup()
+
+class GetYolov7(develop):
+    def run(self):
+        # Specify the URL of the Git repository you want to clone
+        git_repo_url = "https://github.com/WongKinYiu/yolov7.git"
+
+        # Get the current project directory
+        project_directory = Path(__file__).resolve().parent
+
+        # Clone the Git repository into the project directory
+        subprocess.run(["git", "clone", git_repo_url, str(project_directory)])
+
+        super().run()
+
+
+# Read metadata and dependencies from pyproject.toml
+pyproject = Path(__file__).resolve().parent / "pyproject.toml"
+metadata = {}
+install_requires = []
+
+if pyproject.exists():
+    import toml
+
+    pyproject_data = toml.load(pyproject)
+
+    if "project" in pyproject_data:
+        metadata = pyproject_data["project"]
+
+    if "dependencies" in pyproject_data:
+        for dep in pyproject_data["dependencies"]:
+            install_requires.append(dep)
+
+setup(
+    **metadata,
+    install_requires=install_requires,
+    cmdclass={"develop": GetYolov7},
+)