diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..5f6bd6e
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,35 @@
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+.pytest_cache/
+
+# Environment
+.env
+*.egg
+boxer/
+
+# Version control
+.git/
+.gitignore
+
+# Coverage
+.coverage
+tests/htmlcov/
+htmlcov/
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+.DS_Store
+
+# Checkpoints
+ckpts/
+
+# Sample data
+sample_data/
+
+# Visualization output
+output/
diff --git a/README.md b/README.md
index 51a5c85..03535c1 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,33 @@ Boxer lifts 2D object detections into static, global, fused 3D oriented bounding
 
 ## Installation
 
+### Docker
+
+Tested on a Ubuntu 24.04 Host Machine running a NVIDIA GPU with driver version *580.126.09* and the NVIDIA Container Toolkit version *1.19.0*.
+
+#### Requirements
+
+- [Docker](https://docs.docker.com/get-docker/)
+- [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+#### Usage
+
+```bash
+# build the image (only needed once)
+docker build -f docker/Dockerfile -t boxer .
+
+# use the helper script to enter the container
+bash scripts/boxer_docker.sh
+bash scripts/boxer_docker.sh --help
+
+# OR: run a command directly without entering the container
+bash scripts/boxer_docker.sh python run_boxer.py --input nym10_gen1 --skip_viz
+```
+
+> Note: Model checkpoints and sample Aria data are **downloaded automatically on first run** and cached in `ckpts/` and `sample_data/` on your host.
+
+### Local install
+
 We tested on MacOS (with mps acceleration) and Fedora (with CUDA acceleration).
 
 ```bash
@@ -38,6 +65,14 @@ We host model checkpoints for BoxerNet, DinoV3 and OWLv2 on [HuggingFace](https:
 ```bash
 bash scripts/download_ckpts.sh
 ```
+<details><summary>Docker</summary>
+
+Not necessarily needed, since the [scripts/boxer_docker.sh](scripts/boxer_docker.sh) helper script automatically mounts the *ckpts/* directory and downloads the checkpoints on first run, but if you want to download the checkpoints directly, you can run:
+
+```bash
+bash scripts/boxer_docker.sh bash scripts/download_ckpts.sh
+```
+</details>
 
 ## Download Sample Project Aria Data
 
@@ -53,6 +88,15 @@ Let's first start with Aria data. We host three sample [Project Aria](https://ww
 bash scripts/download_aria_data.sh
 ```
 
+<details><summary>Docker</summary>
+
+Not necessarily needed, since the [scripts/boxer_docker.sh](scripts/boxer_docker.sh) helper script automatically mounts the *sample_data/* directory and downloads the data on first run, but if you want to download the data directly, you can run:
+
+```bash
+bash scripts/boxer_docker.sh bash scripts/download_aria_data.sh
+```
+</details>
+
 ## Demo #1: Hello World / Run BoxerNet in headless mode
 For this first demo, you do not need to have a display, so it will work if you are SSH'ed into a server. This will run BoxerNet on the first 90 images of a sequence from the test set of the [NymeriaPlus](https://arxiv.org/abs/2603.18496v1) dataset. This will confirm we can load up the data and run a forward passes with the model alongside the online tracker.
 
@@ -62,6 +106,13 @@ Expected to take ~2 mins on mac MPS, <15 secs on CUDA.
 python run_boxer.py --input nym10_gen1 --max_n=90 --track
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python run_boxer.py --input nym10_gen1 --max_n=90 --track
+```
+</details>
+
 This will dump out static images and a video to `outputs/nym10_gen1/`, e.g. something like this in `outputs/nym10_gen1/boxer_viz_current.png`
 
 ![Run Boxer Demo](docs/images/boxer_viz_current_hohen_gen1.jpg)
@@ -72,6 +123,13 @@ For this demo, you need to have a valid display to have the GUI work. This demo
 python view_prompt.py --input nym10_gen1
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python view_prompt.py --input nym10_gen1
+```
+</details>
+
 You should see a window that looks like this:
 
 ![View Prompt Demo](docs/images/view_prompt_demo.jpg)
@@ -92,6 +150,13 @@ Then, run the fusion script, which will by default search the above paths, to lo
 python view_fusion.py --input nym10_gen1
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python view_fusion.py --input nym10_gen1
+```
+</details>
+
 You should see a window like this:
 
 ![View Fusion Demo](docs/images/view_fusion_demo.jpg)
@@ -104,6 +169,13 @@ Make sure to run Demo #1 above first to generate the 2DBB and 3DBB CSVs. Run the
 python view_tracker.py --input nym10_gen1 --autoplay
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python view_tracker.py --input nym10_gen1 --autoplay
+```
+</details>
+
 ## Demo #5: Running on CA-1M data
 
 Extract a sample validation sequence (ca1m-val-42898570) to sample_data/
@@ -116,6 +188,14 @@ Run the view_prompt.py script on it:
 python view_prompt.py --input ca1m-val-42898570
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python scripts/download_ca1m_sample.py
+bash scripts/boxer_docker.sh python view_prompt.py --input ca1m-val-42898570
+```
+</details>
+
 You should see a window like this:
 
 ![CA-1M Prompt](docs/images/ca1m_screenshot.jpg)
@@ -132,6 +212,14 @@ Run the view_prompt.py script on it:
 python view_prompt.py --input SUNRGBD
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+bash scripts/boxer_docker.sh python scripts/download_omni3d_sample.py
+bash scripts/boxer_docker.sh python view_prompt.py --input SUNRGBD
+```
+</details>
+
 You should see a window like this:
 
 ![SUNRGBD Prompt](docs/images/sunrgbd_screenshot.jpg)
@@ -146,6 +234,14 @@ Run just like the above examples:
 python view_prompt.py --input scene0707_00
 ```
 
+<details><summary>Docker</summary>
+
+```bash
+# Place the scene directory in sample_data/ on the host first (e.g. sample_data/scene0707_00)
+bash scripts/boxer_docker.sh python view_prompt.py --input scene0707_00
+```
+</details>
+
 ![ScanNet Prompt](docs/images/scannet_screenshot.jpg)
 
 ## run_boxer.py Usage Details
@@ -221,6 +317,10 @@ boxer/
 ├── run_boxer.py              # Main entry point (headless detection + lifting)
 ├── view_prompt.py            # Interactive demo (2D prompts + OWL text detection)
 ├── view_fusion.py            # View pre-computed 3D bounding boxes
+├── docker/
+│   ├── Dockerfile            # Docker image definition
+│   ├── docker-compose.yml    # Compose config
+│   └── entrypoint.sh         # Container entrypoint
 ├── boxernet/
 │   ├── boxernet.py           # BoxerNet model (encode → cross-attend → predict)
 │   └── dinov3_wrapper.py     # DINOv3 backbone wrapper
@@ -234,6 +334,7 @@ boxer/
 │   ├── omni_loader.py        # Omni3D dataset loader
 │   └── scannet_loader.py     # ScanNet dataset loader
 ├── scripts/
+│   ├── boxer_docker.sh       # Docker helper script for running commands in the container
 │   ├── download_ckpts.sh     # Download model checkpoints
 │   ├── download_aria_data.sh # Download sample Aria sequences
 │   ├── download_ca1m_sample.py      # Extract CA-1M sample data
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..1c45969
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,65 @@
+# syntax=docker/dockerfile:1
+
+FROM nvidia/cuda:12.8.1-runtime-ubuntu24.04
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  python3.12 \
+  python3.12-venv \
+  python3.12-dev \
+  gcc \
+  curl \
+  wget \
+  ffmpeg \
+  libglib2.0-0 \
+  libsm6 \
+  libxext6 \
+  libxrender1 \
+  libgl1 \
+  libgl-dev \
+  libegl1 \
+  libegl-dev \
+  libglx0 \
+  libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install uv (https://docs.astral.sh/uv/)
+RUN curl -LsSf https://astral.sh/uv/install.sh | sh
+ENV PATH="/root/.local/bin:${PATH}"
+
+# Create virtual environment with uv
+WORKDIR /boxer
+RUN uv venv /boxer/venv --python python3.12 --seed
+ENV VIRTUAL_ENV=/boxer/venv
+ENV PATH="/boxer/venv/bin:${PATH}"
+
+RUN uv pip install \
+  'torch>=2.0' \
+  numpy \
+  opencv-python \
+  tqdm \
+  dill \
+  Pillow
+
+# To support Project Aria loading
+RUN uv pip install projectaria-tools || true
+
+# 3D interactive viewer for view_*.py scripts
+RUN uv pip install \
+  moderngl \
+  moderngl-window \
+  imgui-bundle
+
+# test deps
+RUN uv pip install pytest pytest-cov
+
+COPY . /boxer
+RUN chmod +x /boxer/docker/entrypoint.sh
+
+RUN echo 'source /boxer/venv/bin/activate' >> /root/.bashrc
+
+ENV PYTHONUNBUFFERED=1
+ENV DISPLAY=:0
+
+ENTRYPOINT ["/boxer/docker/entrypoint.sh"]
+CMD ["python", "run_boxer.py", "--help"]
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
new file mode 100644
index 0000000..d05d964
--- /dev/null
+++ b/docker/docker-compose.yml
@@ -0,0 +1,40 @@
+services:
+  boxer:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    image: boxer
+
+    # Pass through GPU access
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+
+    environment:
+      - DISPLAY=${DISPLAY:-:0}
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
+      - HOST_UID=${BOXER_UID:-1000}
+      - HOST_GID=${BOXER_GID:-1000}
+
+    volumes:
+      # Checkpoints
+      - ../ckpts:/boxer/ckpts
+
+      # Sample data
+      - ../sample_data:/boxer/sample_data
+
+      # Visualization output
+      - ../output:/boxer/output
+
+      # x11 unix socket
+      - /tmp/.X11-unix:/tmp/.X11-unix
+
+    network_mode: host
+
+    stdin_open: true
+    tty: true
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100644
index 0000000..f4b178c
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+set -e
+
+CKPT_DIR="/boxer/ckpts"
+SENTINEL="${CKPT_DIR}/.downloaded"
+
+if [ ! -f "$SENTINEL" ]; then
+    echo "WARNING: Checkpoints not found, proceeding to download..."
+    bash /boxer/scripts/download_ckpts.sh
+    touch "$SENTINEL"
+    echo "INFO: Checkpoints downloaded and saved to $CKPT_DIR/"
+fi
+
+DATA_DIR="/boxer/sample_data"
+DATA_SENTINEL="${DATA_DIR}/.downloaded"
+
+if [ ! -f "$DATA_SENTINEL" ]; then
+    echo "INFO: Sample Aria data not found, downloading..."
+    bash /boxer/scripts/download_aria_data.sh
+    touch "$DATA_SENTINEL"
+    echo "INFO: Sample data downloaded to $DATA_DIR/"
+fi
+
+if [ -n "${HOST_UID:-}" ] && [ -n "${HOST_GID:-}" ]; then
+    chown -R "$HOST_UID:$HOST_GID" /boxer/ckpts /boxer/sample_data /boxer/output 2>/dev/null || true
+fi
+
+exec "$@"
diff --git a/scripts/boxer_docker.sh b/scripts/boxer_docker.sh
new file mode 100644
index 0000000..4a462ce
--- /dev/null
+++ b/scripts/boxer_docker.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+if [[ "${1:-}" == "--help" || "${1:-}" == "-h" ]]; then
+    cat <<EOF
+Usage: scripts/boxer_docker.sh [COMMAND [ARGS...]]
+
+Enter the boxer Docker container (built from docker/Dockerfile).
+Volumes for ckpts/, sample_data/, and output/ are mounted automatically
+
+Examples:
+  scripts/boxer_docker.sh
+  scripts/boxer_docker.sh python run_boxer.py --input nym10_gen1 --skip_viz
+  scripts/boxer_docker.sh bash tests/run_tests.sh --no-open
+
+Note: X11 forwarding is granted automatically when DISPLAY is set and revoked on exit!
+EOF
+    exit 0
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+ROOT_DIR="$SCRIPT_DIR/.."
+
+export BOXER_UID=$(id -u)
+export BOXER_GID=$(id -g)
+
+mkdir -p "$ROOT_DIR/ckpts" "$ROOT_DIR/sample_data" "$ROOT_DIR/output"
+
+XHOST_GRANTED=false
+if [ -n "$DISPLAY" ]; then
+    if xhost +local:docker > /dev/null 2>&1; then
+        XHOST_GRANTED=true
+    fi
+fi
+
+docker compose -f "$SCRIPT_DIR/../docker/docker-compose.yml" run --rm --remove-orphans boxer "${@:-bash}"
+
+if [ "$XHOST_GRANTED" = true ]; then
+    xhost -local:docker > /dev/null 2>&1 || true
+fi
diff --git a/utils/viewer_3d.py b/utils/viewer_3d.py
index 9b219cf..e327290 100644
--- a/utils/viewer_3d.py
+++ b/utils/viewer_3d.py
@@ -6009,7 +6009,12 @@ def _stop_recording(self) -> None:
         n = self._record_frame_idx
         print(f"[REC] Recording stopped — {n} frames captured")
         if n > 0:
-            output_dir = os.path.expanduser("~/Desktop")
+            output_dir = os.path.join(os.path.expanduser(EVAL_PATH), self._seq_name)
+            os.makedirs(output_dir, exist_ok=True)
+            # fallback to ~/Desktop
+            if not os.path.isdir(output_dir):
+                desktop = os.path.expanduser("~/Desktop")
+                output_dir = desktop if os.path.isdir(desktop) else os.path.expanduser("~")
             base_name = f"viz_tracker_{self._seq_name}"
             output_name = f"{base_name}.mp4"
             out_path = os.path.join(output_dir, output_name)