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/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..a3854f9
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,34 @@
+FROM ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+EXPOSE 7000-7099/tcp
+EXPOSE 8888/tcp
+
+RUN apt-get update \
+      && apt-get install --no-install-recommends -qy curl apt-transport-https \
+      sudo ca-certificates libgl1-mesa-dev python3.9-dev  \
+      python3-pip git 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 \
+    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