I guess if you really want this to work using the R.Pi, you may end up writing your own minimal terminal emulator. You may even be able to base it on the source code from one of the existing emulators.
Although the termcap database is deprecated, a quick look at
and /etc/termcap do seem to provide enough info to suggest that only a minimal amount of escape sequences would need to be captured/processed
Code:
adm3a|lsi adm3a:\
:am:bs:\
:co#80:li#24:\
:bl=^G:cl=1\032:cm=\E=%+ %+ :cr=^M:do=^J:ho=^^:kd=^J:kl=^H:\
:kr=^L:ku=^K:le=^H:ma=^K^P:nd=^L:nl=^J:rs=^N:sf=^J:up=^K:
with the rest of the output passed through to stdout.