What is the relationship between the Docker images in the actions/actions-runner-controller and actions/runner repositories?

[jianliang00]

I've noticed that the default image used in the scale runner set within actions-runner-controller comes from actions/runner. However, when I replace the image with one from actions-runner-controller, it doesn't work properly. Therefore, I'm curious about how to correctly use the images within the actions/actions-runner-controller repository and what their relationship is with the images from actions/runner.