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services:
  selenoid:
    image: aerokube/selenoid
    network_mode: bridge
    ports:
      - "4444:4444"
    volumes:
      - ${PWD}:/etc/selenoid
      - /var/run/docker.sock:/var/run/docker.sock
      - ${PWD}/video:/opt/selenoid/video
      - ${PWD}/logs:/opt/selenoid/logs
    command:
      [
        "-conf", "/etc/selenoid/browsers.json",
        "-video-output-dir", "/opt/selenoid/video",
        "-log-output-dir", "/opt/selenoid/logs"
      ]

  selenoid-ui:
    container_name: selenoid-ui
    image: aerokube/selenoid-ui
    network_mode: bridge
    links:
      - selenoid
    ports:
      - "8080:8080"
    command: ["--selenoid-uri", "http://selenoid:4444"]
Windows: in Windows, the ${PWD} variable may not be substituted. Then specify explicit (preferably absolute) paths to browsers.json, logs and video folders. Use forward slashes (C:/...).
Brief example: 
services:
  selenoid:
    image: aerokube/selenoid
    volumes:
      - C:/selenoid:/etc/selenoid
      - /var/run/docker.sock:/var/run/docker.sock
      - C:/selenoid/video:/opt/selenoid/video
      - C:/selenoid/logs:/opt/selenoid/logs
  selenoid-ui:
    image: aerokube/selenoid-ui
    command: ["--selenoid-uri","http://selenoid:4444"]