diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index bc22829e70e..d81e73f5042 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -64,6 +64,19 @@ runs:
       run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
+    - name: Docker meta for autoware:core
+      id: meta-core
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+        tags: |
+          type=raw,value=core-${{ inputs.platform }}
+          type=raw,value=core-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+          type=ref,event=tag,prefix=core-,suffix=-${{ inputs.platform }}
+        bake-target: docker-metadata-action-core
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:core-devel
       id: meta-core-devel
       uses: docker/metadata-action@v5
@@ -246,6 +259,7 @@ runs:
         push: true
         files: |
           docker/docker-bake.hcl
+          ${{ steps.meta-core.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index b4b56698a9e..3bf20bf5d5a 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -28,6 +28,9 @@ COPY src/core /autoware/src/core
 RUN rosdep update && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-core-depend-packages.txt \
   && cat /rosdep-core-depend-packages.txt
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
+  > /rosdep-core-exec-depend-packages.txt \
+  && cat /rosdep-core-exec-depend-packages.txt
 
 COPY src/universe/external /autoware/src/universe/external
 COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
@@ -43,7 +46,7 @@ COPY src/universe/autoware.universe/visualization /autoware/src/universe/autowar
 RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
   > /rosdep-universe-visualization-depend-packages.txt \
   && cat /rosdep-universe-visualization-depend-packages.txt
-RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
   > /rosdep-universe-visualization-exec-depend-packages.txt \
   && cat /rosdep-universe-visualization-exec-depend-packages.txt
 
@@ -405,6 +408,32 @@ COPY --from=universe-devel /opt/autoware /opt/autoware
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+# hadolint ignore=DL3006
+FROM $AUTOWARE_BASE_IMAGE AS core
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+
+# Set up runtime environment
+COPY --from=rosdep-depend /rosdep-core-exec-depend-packages.txt /tmp/rosdep-core-exec-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-core-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY --from=core-devel /opt/autoware /opt/autoware
+
+# Copy bash aliases
+COPY docker/etc/.bash_aliases /root/.bash_aliases
+RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 # hadolint ignore=DL3006
 FROM $AUTOWARE_BASE_IMAGE AS universe-sensing-perception
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
diff --git a/docker/Dockerfile.svg b/docker/Dockerfile.svg
index bbbb9a89d74..eb12d09a560 100644
--- a/docker/Dockerfile.svg
+++ b/docker/Dockerfile.svg
@@ -3,45 +3,45 @@
 <!-- Generated by graphviz version 12.2.1 (20241206.2353)
  -->
 <!-- Title: G Pages: 1 -->
-<svg width="1843pt" height="971pt" viewBox="0.00 0.00 1843.00 971.44" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
-  <g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 967.44)">
+<svg width="1843pt" height="973pt" viewBox="0.00 0.00 1843.00 972.92" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+  <g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 968.92)">
     <title>G</title>
-    <polygon fill="white" stroke="none" points="-4,4 -4,-967.44 1839,-967.44 1839,4 -4,4"/>
+    <polygon fill="white" stroke="none" points="-4,4 -4,-968.92 1839,-968.92 1839,4 -4,4"/>
     <g id="clust1" class="cluster">
       <title>cluster_legend</title>
-      <polygon fill="none" stroke="black" points="8,-450.44 8,-524.44 353.12,-524.44 353.12,-450.44 8,-450.44"/>
+      <polygon fill="none" stroke="black" points="8,-248.92 8,-322.92 353.12,-322.92 353.12,-248.92 8,-248.92"/>
     </g>
     <!-- key -->
     <g id="node1" class="node">
       <title>key</title>
-      <text text-anchor="start" x="122" y="-501.07" font-family="monospace" font-size="10.00">FROM ...</text>
-      <text text-anchor="start" x="80" y="-484.32" font-family="monospace" font-size="10.00">COPY &#45;&#45;from=... </text>
-      <text text-anchor="start" x="26" y="-467.57" font-family="monospace" font-size="10.00">RUN &#45;&#45;mount=(.*)from=... </text>
+      <text text-anchor="start" x="122" y="-299.54" font-family="monospace" font-size="10.00">FROM ...</text>
+      <text text-anchor="start" x="80" y="-282.79" font-family="monospace" font-size="10.00">COPY &#45;&#45;from=... </text>
+      <text text-anchor="start" x="26" y="-266.04" font-family="monospace" font-size="10.00">RUN &#45;&#45;mount=(.*)from=... </text>
     </g>
     <!-- key2 -->
     <g id="node2" class="node">
       <title>key2</title>
-      <text text-anchor="start" x="315.12" y="-501.07" font-family="monospace" font-size="10.00"/>
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-      <text text-anchor="start" x="315.12" y="-467.57" font-family="monospace" font-size="10.00"/>
+      <text text-anchor="start" x="315.12" y="-299.54" font-family="monospace" font-size="10.00"/>
+      <text text-anchor="start" x="315.12" y="-282.79" font-family="monospace" font-size="10.00"/>
+      <text text-anchor="start" x="315.12" y="-266.04" font-family="monospace" font-size="10.00"/>
     </g>
     <!-- key&#45;&gt;key2 -->
     <g id="edge1" class="edge">
       <title>key:e&#45;&gt;key2:w</title>
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-      <polygon fill="black" stroke="black" points="300.61,-507.69 310.61,-504.19 300.61,-500.69 300.61,-507.69"/>
+      <path fill="none" stroke="black" d="M179,-302.67C234.24,-302.67 250.8,-302.67 300.9,-302.67"/>
+      <polygon fill="black" stroke="black" points="300.61,-306.17 310.61,-302.67 300.61,-299.17 300.61,-306.17"/>
     </g>
     <!-- key&#45;&gt;key2 -->
     <g id="edge2" class="edge">
       <title>key:e&#45;&gt;key2:w</title>
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-      <polygon fill="none" stroke="black" points="300.61,-490.94 310.61,-487.44 300.61,-483.94 300.61,-490.94"/>
+      <path fill="none" stroke="black" d="M179,-285.92C234.24,-285.92 250.8,-285.92 300.9,-285.92"/>
+      <polygon fill="none" stroke="black" points="300.61,-289.42 310.61,-285.92 300.61,-282.42 300.61,-289.42"/>
     </g>
     <!-- key&#45;&gt;key2 -->
     <g id="edge3" class="edge">
       <title>key:e&#45;&gt;key2:w</title>
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-      <polygon fill="none" stroke="black" points="299.22,-470.69 305.22,-466.69 311.22,-470.69 305.22,-474.69 299.22,-470.69"/>
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+      <polygon fill="none" stroke="black" points="299.22,-269.17 305.22,-265.17 311.22,-269.17 305.22,-273.17 299.22,-269.17"/>
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     <!-- external_image_0 -->
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@@ -50,9 +50,9 @@
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         stroke="#333333"
         stroke-dasharray="5,2"
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       />
-      <text text-anchor="middle" x="101" y="-609.39" font-family="Times,serif" font-size="14.00" fill="#333333">$BASE_IMAGE</text>
+      <text text-anchor="middle" x="101" y="-407.87" font-family="Times,serif" font-size="14.00" fill="#333333">$BASE_IMAGE</text>
     </g>
     <!-- stage_0 -->
     <g id="node4" class="node">
@@ -60,15 +60,15 @@
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         fill="none"
         stroke="black"
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       />
-      <text text-anchor="middle" x="318.12" y="-609.39" font-family="Times,serif" font-size="14.00">rosdep&#45;depend</text>
+      <text text-anchor="middle" x="318.12" y="-407.87" font-family="Times,serif" font-size="14.00">rosdep&#45;depend</text>
     </g>
     <!-- external_image_0&#45;&gt;stage_0 -->
     <g id="edge4" class="edge">
       <title>external_image_0&#45;&gt;stage_0</title>
-      <path fill="none" stroke="black" d="M173.33,-614.44C192.95,-614.44 214.39,-614.44 234.59,-614.44"/>
-      <polygon fill="black" stroke="black" points="234.47,-617.94 244.47,-614.44 234.47,-610.94 234.47,-617.94"/>
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     <!-- stage_1 -->
     <g id="node5" class="node">
@@ -76,15 +76,15 @@
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         fill="none"
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-      <text text-anchor="middle" x="763.12" y="-853.39" font-family="Times,serif" font-size="14.00">rosdep&#45;universe&#45;visualization&#45;depend</text>
+      <text text-anchor="middle" x="763.12" y="-817.87" font-family="Times,serif" font-size="14.00">rosdep&#45;universe&#45;visualization&#45;depend</text>
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     <!-- stage_0&#45;&gt;stage_1 -->
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-      <polygon fill="black" stroke="black" points="654.15,-839.17 664.74,-839.42 656.62,-832.62 654.15,-839.17"/>
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@@ -92,15 +92,15 @@
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-      <text text-anchor="middle" x="763.12" y="-412.39" font-family="Times,serif" font-size="14.00">rosdep&#45;universe&#45;localization&#45;mapping&#45;depend</text>
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-      <text text-anchor="middle" x="763.12" y="-316.39" font-family="Times,serif" font-size="14.00">rosdep&#45;universe&#45;planning&#45;control&#45;depend</text>
+      <text text-anchor="middle" x="763.12" y="-297.87" font-family="Times,serif" font-size="14.00">rosdep&#45;universe&#45;planning&#45;control&#45;depend</text>
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@@ -141,19 +141,16 @@
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+      <polygon fill="none" stroke="black" points="1453.71,-773.6 1464.21,-772.19 1455.13,-766.74 1453.71,-773.6"/>
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     <!-- stage_11&#45;&gt;stage_17 -->
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+    <g id="edge81" class="edge">
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-    <!-- stage_12&#45;&gt;stage_20 -->
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+    <!-- stage_12&#45;&gt;stage_21 -->
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+      <title>stage_12&#45;&gt;stage_21</title>
+      <path
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+        stroke="black"
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     <!-- stage_12&#45;&gt;stage_16 -->
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+    <g id="edge83" class="edge">
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+      <polygon fill="none" stroke="black" points="1232.09,-518.32 1242.68,-518.06 1234.24,-511.66 1232.09,-518.32"/>
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-    <!-- stage_13&#45;&gt;stage_21 -->
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+    <!-- stage_13&#45;&gt;stage_22 -->
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+      <title>stage_13&#45;&gt;stage_22</title>
+      <path fill="none" stroke="black" d="M1125.6,-330.5C1133.76,-326.1 1141.29,-320.66 1147.5,-313.92 1193.97,-263.51 1135.17,-212.55 1183.5,-163.92 1191.76,-155.61 1201.99,-149.54 1212.95,-145.14"/>
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     <!-- stage_13&#45;&gt;stage_16 -->
-    <g id="edge82" class="edge">
+    <g id="edge85" class="edge">
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-    <!-- stage_14&#45;&gt;stage_22 -->
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-      <polygon fill="none" stroke="black" points="1217.66,-91.97 1226.26,-85.79 1215.68,-85.26 1217.66,-91.97"/>
+    <!-- stage_14&#45;&gt;stage_23 -->
+    <g id="edge88" class="edge">
+      <title>stage_14&#45;&gt;stage_23</title>
+      <path fill="none" stroke="black" d="M1123.9,-226.42C1132.57,-222.04 1140.69,-216.62 1147.5,-209.92 1182.37,-175.62 1147.37,-138.89 1183.5,-105.92 1192.99,-97.26 1204.66,-91.08 1216.91,-86.69"/>
+      <polygon fill="none" stroke="black" points="1217.85,-90.06 1226.35,-83.73 1215.76,-83.38 1217.85,-90.06"/>
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     <!-- stage_14&#45;&gt;stage_16 -->
-    <g id="edge84" class="edge">
+    <g id="edge87" class="edge">
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-        stroke="black"
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+      <path fill="none" stroke="black" d="M1072.81,-263.37C1095.22,-277.21 1125.04,-297.54 1147.5,-319.92 1207.31,-379.52 1260.08,-464.73 1285.34,-508.53"/>
+      <polygon fill="none" stroke="black" points="1282.27,-510.22 1290.26,-517.17 1288.35,-506.75 1282.27,-510.22"/>
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     <!-- stage_16&#45;&gt;stage_17 -->
-    <g id="edge88" class="edge">
+    <g id="edge91" class="edge">
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+      <path fill="none" stroke="black" d="M1339.73,-555.39C1384.2,-577.82 1459.29,-615.7 1507.96,-640.25"/>
+      <polygon fill="none" stroke="black" points="1506.37,-643.37 1516.87,-644.75 1509.52,-637.12 1506.37,-643.37"/>
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-    <!-- stage_16&#45;&gt;stage_24 -->
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-      <polygon fill="none" stroke="black" points="1472.15,-526.94 1482.15,-523.44 1472.15,-519.94 1472.15,-526.94"/>
+    <!-- stage_16&#45;&gt;stage_25 -->
+    <g id="edge92" class="edge">
+      <title>stage_16&#45;&gt;stage_25</title>
+      <path fill="none" stroke="black" d="M1374.59,-536.92C1405.02,-536.92 1440.69,-536.92 1472.24,-536.92"/>
+      <polygon fill="none" stroke="black" points="1472.15,-540.42 1482.15,-536.92 1472.15,-533.42 1472.15,-540.42"/>
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-    <!-- stage_17&#45;&gt;stage_25 -->
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-      <title>stage_17&#45;&gt;stage_25</title>
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-      <polygon fill="none" stroke="black" points="1720.51,-767.87 1730.85,-770.15 1724.19,-761.91 1720.51,-767.87"/>
+    <!-- stage_17&#45;&gt;stage_26 -->
+    <g id="edge93" class="edge">
+      <title>stage_17&#45;&gt;stage_26</title>
+      <path fill="none" stroke="black" d="M1593.08,-682.27C1627.24,-699.6 1678.63,-725.65 1715.75,-744.47"/>
+      <polygon fill="none" stroke="black" points="1713.97,-747.49 1724.47,-748.89 1717.13,-741.25 1713.97,-747.49"/>
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     <!-- external_image_1 -->
-    <g id="node29" class="node">
+    <g id="node30" class="node">
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       <path
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         stroke="#333333"
         stroke-dasharray="5,2"
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-      <text text-anchor="middle" x="318.12" y="-551.39" font-family="Times,serif" font-size="14.00" fill="#333333">$AUTOWARE_BASE_IMAGE</text>
+      <text text-anchor="middle" x="318.12" y="-349.87" font-family="Times,serif" font-size="14.00" fill="#333333">$AUTOWARE_BASE_IMAGE</text>
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     <!-- external_image_1&#45;&gt;stage_7 -->
-    <g id="edge58" class="edge">
+    <g id="edge59" class="edge">
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-      <path fill="none" stroke="black" d="M414.56,-559.27C422.53,-559.51 430.54,-559.75 438.41,-559.98"/>
-      <polygon fill="black" stroke="black" points="438.18,-563.48 448.28,-560.27 438.39,-556.48 438.18,-563.48"/>
+      <path fill="none" stroke="black" d="M414.56,-357.75C422.53,-357.99 430.54,-358.23 438.41,-358.46"/>
+      <polygon fill="black" stroke="black" points="438.18,-361.95 448.28,-358.75 438.39,-354.96 438.18,-361.95"/>
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-    <!-- external_image_1&#45;&gt;stage_23 -->
-    <g id="edge63" class="edge">
-      <title>external_image_1&#45;&gt;stage_23</title>
+    <!-- external_image_1&#45;&gt;stage_18 -->
+    <g id="edge60" class="edge">
+      <title>external_image_1&#45;&gt;stage_18</title>
+      <path fill="none" stroke="black" d="M523.25,-192.92C600.12,-179.91 564.43,-290.14 630.25,-331.92 645.16,-341.39 662.73,-347.79 680.08,-352.12"/>
+      <polygon fill="black" stroke="black" points="678.84,-355.43 689.36,-354.22 680.38,-348.6 678.84,-355.43"/>
+    </g>
+    <!-- external_image_1&#45;&gt;stage_24 -->
+    <g id="edge65" class="edge">
+      <title>external_image_1&#45;&gt;stage_24</title>
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-    <!-- external_image_1&#45;&gt;stage_18 -->
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-    <!-- external_image_1&#45;&gt;stage_20 -->
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+    <!-- external_image_1&#45;&gt;stage_19 -->
+    <g id="edge61" class="edge">
+      <title>external_image_1&#45;&gt;stage_19</title>
+      <path fill="none" stroke="black" d="M1040.75,-192.92C1058.31,-192.92 1146.42,-213.27 1215.34,-229.86"/>
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     <!-- external_image_1&#45;&gt;stage_21 -->
-    <g id="edge61" class="edge">
+    <g id="edge62" class="edge">
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-      <polygon fill="black" stroke="black" points="1212.64,-113.71 1223.18,-112.62 1214.26,-106.9 1212.64,-113.71"/>
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     <!-- external_image_1&#45;&gt;stage_22 -->
-    <g id="edge62" class="edge">
+    <g id="edge63" class="edge">
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+      <path
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+        stroke="black"
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+      <polygon fill="black" stroke="black" points="1213.48,-159.58 1222.31,-153.72 1211.76,-152.79 1213.48,-159.58"/>
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-    <!-- external_image_1&#45;&gt;stage_24 -->
+    <!-- external_image_1&#45;&gt;stage_23 -->
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+      <title>external_image_1&#45;&gt;stage_23</title>
+      <path fill="none" stroke="black" d="M1040.75,-76.92C1098.09,-62.4 1164.84,-62.73 1216.4,-66.51"/>
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+    <!-- external_image_1&#45;&gt;stage_25 -->
+    <g id="edge66" class="edge">
+      <title>external_image_1&#45;&gt;stage_25</title>
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     <!-- stage_9&#45;&gt;stage_11 -->
-    <g id="edge73" class="edge">
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-    <g id="edge74" class="edge">
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     <!-- external_image_2 -->
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-      <text text-anchor="middle" x="1302.12" y="-836.39" font-family="Times,serif" font-size="14.00" fill="#333333">$AUTOWARE_BASE_CUDA_IMAGE</text>
-    </g>
-    <!-- external_image_2&#45;&gt;stage_19 -->
-    <g id="edge91" class="edge">
-      <title>external_image_2&#45;&gt;stage_19</title>
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+      />
+      <text text-anchor="middle" x="1302.12" y="-837.87" font-family="Times,serif" font-size="14.00" fill="#333333">$AUTOWARE_BASE_CUDA_IMAGE</text>
+    </g>
+    <!-- external_image_2&#45;&gt;stage_20 -->
+    <g id="edge94" class="edge">
+      <title>external_image_2&#45;&gt;stage_20</title>
+      <path fill="none" stroke="black" d="M1392.59,-824.44C1412.62,-820.3 1434,-815.89 1454.45,-811.66"/>
+      <polygon fill="black" stroke="black" points="1455.13,-815.1 1464.21,-809.65 1453.71,-808.24 1455.13,-815.1"/>
+    </g>
+    <!-- external_image_2&#45;&gt;stage_26 -->
+    <g id="edge95" class="edge">
+      <title>external_image_2&#45;&gt;stage_26</title>
+      <path fill="none" stroke="black" d="M1363.47,-861.39C1425.91,-879.42 1519.19,-903.05 1554.88,-894.92"/>
+      <path fill="none" stroke="black" d="M1556.88,-894.92C1627.95,-878.73 1697.2,-825.85 1734.25,-793.65"/>
+      <polygon fill="black" stroke="black" points="1736.21,-796.59 1741.39,-787.34 1731.58,-791.34 1736.21,-796.59"/>
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 </svg>
diff --git a/docker/README.md b/docker/README.md
index 1d6d96b8789..4f4b5c32b8c 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -92,6 +92,7 @@ The ROS dependency package list files will be generated.
 These files will be used in the subsequent stages:
 
 - `core-devel`
+- `core`
 - `universe-common`
 - `universe-COMPONENT-devel` (e.g. `universe-sensing-perception-devel`)
 - `universe-COMPONENT` (e.g. `universe-sensing-perception`)
@@ -104,6 +105,10 @@ By generating only the package list files and copying them to the subsequent sta
 
 This stage installs the dependency packages based on `/rosdep-core-depend-packages.txt` and builds the packages under the `core` directory of `autoware.repos`.
 
+### `core`
+
+This stage is an Autoware Core runtime container. It only includes the dependencies given by `/rosdep-core-exec-depend-packages.txt` and the binaries built in the `core-devel` stage.
+
 ### `universe-common-devel`
 
 This stage installs the dependency packages based on `/rosdep-universe-common-depend-packages.txt` and builds the packages under the following directories of `autoware.repos`:
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 600b47108be..df32d0908f2 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -1,5 +1,6 @@
 group "default" {
   targets = [
+    "core",
     "core-devel",
     "universe-sensing-perception-devel",
     "universe-sensing-perception",
@@ -17,6 +18,7 @@ group "default" {
 }
 
 // For docker/metadata-action
+target "docker-metadata-action-core" {}
 target "docker-metadata-action-core-devel" {}
 target "docker-metadata-action-universe-sensing-perception-devel" {}
 target "docker-metadata-action-universe-sensing-perception" {}
@@ -31,6 +33,12 @@ target "docker-metadata-action-universe-visualization" {}
 target "docker-metadata-action-universe-devel" {}
 target "docker-metadata-action-universe" {}
 
+target "core" {
+  inherits = ["docker-metadata-action-core"]
+  dockerfile = "docker/Dockerfile"
+  target = "core"
+}
+
 target "core-devel" {
   inherits = ["docker-metadata-action-core-devel"]
   dockerfile = "docker/Dockerfile"