I think you do not need the cgi step, you can connect directly to the selenium server.
So on the server machine you start your selenium server:
java -jar selenium-server.jar
On the client, you run a perl script like this:
use Test::WWW::Selenium
my $sel = Test::WWW::Selenium->new(
host => "your server's ip",
port => 4444,
browser => "*firefox",
browser_url => "http://www.google.com",
);
# your test script goes here
Maybe you have to tweak the firewall settings on the server to make this work.
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