diff --git a/.env b/.env
index 9a061ee7..4dc203e1 100644
--- a/.env
+++ b/.env
@@ -3,7 +3,13 @@ PROJECT_NAME="airstack"
 PROJECT_VERSION="0.13.1"
 # can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
-DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
+DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/neighborhood.scene.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/fire_academy.scene.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AbandonedFactory.scene.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Library/Assets/FireAcademyFaro/fire_academy_faro.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/ConstructionSite.scene.usd"
+#DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/infinity_blade_grasslands.scene.usd"
 PLAY_SIM_ON_START="true"
 # the file under robot/docker/ that contains the robot's environment variables
 ROBOT_ENV_FILE_NAME="robot.env"
diff --git a/robot/docker/Dockerfile.robot b/robot/docker/Dockerfile.robot
index 7fce5561..80061ab1 100644
--- a/robot/docker/Dockerfile.robot
+++ b/robot/docker/Dockerfile.robot
@@ -119,13 +119,48 @@ RUN pip3 install \
     yacs \
     wandb
 
-# Override install newer openvdb 9.1.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
-RUN apt remove -y libopenvdb*; \
-    git clone --recurse --branch v9.1.0 https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
-    mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
-    cmake .. && \
-    make -j8 && make install && \
-    cd ..; rm -rf /opt/openvdb/build
+# # Override install newer openvdb 9.1.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
+# RUN apt remove -y libopenvdb*; \
+#     git clone --recurse --branch v9.1.0 https://github.com/wyca-robotics/openvdb.git /opt/openvdb && \
+#     mkdir /opt/openvdb/build && cd /opt/openvdb/build && \
+#     cmake .. && \
+#     make -j8 && make install && \
+#     cd ..; rm -rf /opt/openvdb/build
+
+#for Rayfronts Integration#
+RUN pip install \
+  torch-scatter==2.1.2 \
+  ftfy \
+  regex \
+  nanobind \
+  hydra-core \
+  open_clip_torch \
+  transformers \
+  idna==3.10 \
+  requests==2.32.3 \
+  scipy==1.15.2
+
+WORKDIR /usr/local/src
+RUN wget https://archives.boost.io/release/1.80.0/source/boost_1_80_0.tar.gz && \
+  tar -xvzf boost_1_80_0.tar.gz && \
+  cd boost_1_80_0 && \
+  ./bootstrap.sh && \
+  ./b2 install --prefix=/usr/local && \
+  rm -rf /usr/local/src/boost_1_80_0.tar.gz
+
+WORKDIR /root/ros_ws/src/autonomy/2_perception/rayfronts
+RUN git clone https://github.com/OasisArtisan/openvdb.git && \
+    mkdir -p openvdb/build && \
+    ls -l /root/ros_ws/src/autonomy/2_perception/rayfronts/openvdb && \
+    cd openvdb/build && \
+    cmake -DOPENVDB_BUILD_PYTHON_MODULE=ON \ 
+    -DOPENVDB_BUILD_PYTHON_UNITTESTS=ON \ 
+    -DOPENVDB_PYTHON_WRAP_ALL_GRID_TYPES=ON -DUSE_NUMPY=ON \
+    -Dnanobind_DIR=/usr/local/lib/python3.10/dist-packages/nanobind/cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    ls -l /root/ros_ws/src/autonomy/2_perception/rayfronts/openvdb
+
 
 # Add ability to SSH
 RUN apt-get update && apt-get install -y openssh-server
@@ -169,4 +204,13 @@ RUN pip install -U colcon-common-extensions
 
 # Fixes for MACVO Integration
 RUN pip install huggingface_hub
-RUN pip uninstall matplotlib -y
\ No newline at end of file
+RUN pip uninstall matplotlib -y
+
+RUN pip install certifi
+RUN pip install rerun-sdk==0.17
+
+RUN python3 -c "import torch; \
+    torch.hub.load('NVlabs/RADIO', 'radio_model', \
+                   version='radio_v2.5-b', progress=True, \
+                   skip_validation=True, adaptor_names=['siglip'], \
+                   trust_repo=True)"
diff --git a/robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml b/robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml
index 31883577..82caf967 100644
--- a/robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml
+++ b/robot/ros_ws/src/autonomy/2_perception/perception_bringup/launch/perception.launch.xml
@@ -47,6 +47,9 @@
             to="/$(env ROBOT_NAME)/sensors/front_stereo/right/camera_info" />
     </node>
 
+    <!--RayFronts-->
+    <node pkg="rayfronts" exec="rayfronts_node" name="rayfronts" output="screen"/>
+
     <!-- Visualizer -->
     <node pkg="image_view" exec="disparity_view"
         namespace="disparity_view">