diff --git a/plans/rover learning service.md b/plans/rover learning service.md
index bfd97dde..4b666000 100644
--- a/plans/rover learning service.md	
+++ b/plans/rover learning service.md	
@@ -2,7 +2,10 @@
 
 ## Resume here
 
-Status: recording, bounded dataset/training, permanent named models, live inference,
+Status: policy format 2 now predicts continuous wheel speeds plus accessory events.
+Copyable diagnostics and main-card wheel/action displays with a session threshold
+slider are implemented. Older model files remain stored but cannot run in this format.
+Recording, bounded dataset/training, permanent named models, live inference,
 checked autonomous command submission, and the verified VIP card are coded.
 Human commands do not stop or pause autonomy (explicit latest user requirement).
 Focused local checks passed; actual recording/training, live autonomous behavior,
@@ -109,7 +112,7 @@ the default development path. Intended layout:
 rover-learning/
   recordings/       Rolling video/events/session metadata (implemented)
   models/           Permanent UUID directories: weights.pt and model.json
-  training/         resume-v2.pt, schedule.json, and current job.json
+  training/         resume-v3.pt, schedule-v3.json, and current job.json
 ```
 
 Training/model directories are created only when service and training are enabled.
@@ -684,3 +687,71 @@ migration 3 to remove only that obsolete key from all saved revisions before
 startup validation. Other settings remain intact; normal default filling adds
 new fields. No manual database/config edits are required. Existing focused
 migration and normalization tests passed (2/2); production restart is unverified.
+
+
+### Continuous wheel policy and copyable diagnostics (latest IPI)
+
+Requirements: learn solely from ordinary use. Never require prescribed routes,
+exercises, or demonstrations. Keep eight training threads until actual timings
+justify changes. No artificial model-size increase. Manual controls still do not
+stop or pause the controller. Keep card layout in the existing feature-card stack.
+
+Implemented:
+- Policy format 2 adds an independent two-value tanh wheel head (805,234 total
+  parameters), scaled to +/-500 mm/s. Accessory event/value heads remain separate;
+  drive command shapes remain causal history inputs but are masked as event targets.
+- Dataset reconstructs accepted human wheel intent at frame time +100ms, using
+  dispatched wheel values, explicit zero stops, and the recorded hardware limit
+  when available. Inspection of roverd dispatch found persistent wheel commands,
+  not a short wheel-command expiry timer. Permission boundaries, server overrides,
+  failed/ambiguous drive commands and raw/mode/system changes invalidate wheel
+  intent until another accepted human drive. Uncertain windows are excluded.
+  Raw OI controls are consequently not reliable trainable events in this revision;
+  their effects require dedicated decoding before relaxing that exclusion.
+- Four bounded training reservoirs preserve stopped, forward, reverse and turn
+  examples without requiring humans to behave differently. Held-out reservoirs
+  remain uniformly sampled and entire sessions retain deterministic partitioning.
+- Loss reports separate wheel, accessory-event and accessory-value components.
+  Held-out wheel MAE is compared with stopped-wheel and previous-command baselines,
+  with separate error on actual wheel changes. Publication needs >=128 evaluation
+  windows, >=32 moving and >=32 changed windows, improvement over stopped and
+  changed-window persistence baselines, and overall error no worse than persistence.
+  Accessory precision/recall gates remain when events exist; absent accessory
+  events must not produce false positives. These remain experimental imitation
+  criteria, not proof of autonomous competence.
+- Existing footage can be reused. New learning state is resume-v3.pt and
+  schedule-v3.json, preventing old-shape weights or stale rejection ledgers from
+  being reused. Existing published files remain untouched and visibly marked as
+  older format/incompatible. New compatible models are required to start driving.
+- Live inference emits a wheel command every decision, independent of the accessory
+  threshold. Server clamps wheel values to hardware limits through the unchanged
+  shared authorization path. Start/Stop and manual-input behavior are preserved.
+- Main card shows centered signed wheel bars, accessory score/status bars and a
+  session-local threshold slider (0.05..0.99). Only users with current rover control
+  can adjust it. Worker receives settings over its existing stdin channel; desired
+  and applied thresholds are separately observable. Active controllers get 10Hz
+  snapshots even when details are collapsed.
+- Copy diagnostics exports compact reportVersion=1 JSON from the same complete
+  card object. It includes application version, service-source SHA256 fingerprint,
+  policy version, settings, host load/memory, dataset timing/availability counters,
+  separate losses, baseline evaluation, decode/train/evaluation/checkpoint timing,
+  CPU seconds and peak RSS, publication blockers, 20 job summaries and up to 30s
+  of controller history sampled at 2Hz (top eight action scores per entry).
+- Reports use an explicit allowlist: no socket IDs, nicknames, rover IDs, filesystem
+  paths, raw video, credential-bearing URLs or raw command templates. Errors are
+  categorized rather than copying potentially sensitive arbitrary exception text.
+  Browser video latency and actual physical command execution are explicitly
+  unavailable. Diagnostics payloads are sent only while details are expanded;
+  active action visualization remains live in the main card.
+- Clipboard failure exposes a selectable compact report instead of silently failing.
+- No recorded dataset exists under this checkout's server/data/rover-learning.
+  Production worker dependency/entry-point checks succeeded; policy construction
+  reports 805,234 parameters. Targeted card ESLint and Node syntax checks passed.
+  Actual optimizer execution, held-out results, RTSP inference, clipboard/slider
+  behavior and browser appearance remain unverified here. No new tests, fake data,
+  or background development processes were created.
+
+Next: use real diagnostic reports to assess timing, sample rejection, target
+coverage and baseline performance. Do not infer competence from lower training
+loss or increase architecture size without that evidence. If training was disabled
+through the configuration UI, the operator must re-enable it to train this policy.
diff --git a/server/src/services/roverLearningService/capabilities.js b/server/src/services/roverLearningService/capabilities.js
index c5e96f49..6a695256 100644
--- a/server/src/services/roverLearningService/capabilities.js
+++ b/server/src/services/roverLearningService/capabilities.js
@@ -7,7 +7,7 @@ function controlProfile(meta = {}) {
 }
 
 function compatible(model, record) {
-  if (model?.specification?.version !== 1 || !record) return false;
+  if (model?.specification?.version !== 2 || !record) return false;
   const profile = controlProfile(record.meta);
   return Array.isArray(model.controlProfiles) && model.controlProfiles.some((saved) => isDeepStrictEqual(saved, profile));
 }
diff --git a/server/src/services/roverLearningService/diagnostics.js b/server/src/services/roverLearningService/diagnostics.js
new file mode 100644
index 00000000..40531b3c
--- /dev/null
+++ b/server/src/services/roverLearningService/diagnostics.js
@@ -0,0 +1,60 @@
+// Export an explicit allowlist, never the raw socket/session/configuration object.
+const os = require('node:os');
+const fs = require('node:fs');
+const path = require('node:path');
+const { createHash } = require('node:crypto');
+const applicationVersion = require('../../../package.json').version;
+const hash = createHash('sha256');
+for (const file of ['workers/policy.py', 'workers/dataset.py', 'workers/train.py', 'workers/infer.py',
+  'driving.js', 'recording.js', 'training.js', 'socketGateway.js', 'diagnostics.js']) {
+  hash.update(fs.readFileSync(path.join(__dirname, file)));
+}
+const implementationSha256 = hash.digest('hex');
+
+function errorCategory(value) {
+  if (!value) return null;
+  const text = String(value).toLowerCase();
+  for (const [pattern, category] of [
+    [/timestamp|pts|clock|aligned/, 'time_alignment'], [/sensor/, 'sensors'],
+    [/video|decode|ffmpeg|rtsp/, 'video'], [/permission|turn|control permission/, 'permission'],
+    [/schema|shape|version/, 'model_schema'], [/space|disk|enospc/, 'storage'],
+    [/sample|window|command/, 'dataset_or_command'], [/worker|exited|process/, 'worker'],
+  ]) if (pattern.test(text)) return category;
+  return 'unclassified';
+}
+
+function report(state, controller) {
+  const training = state.training || {};
+  const metrics = training.diagnostics || {};
+  const session = state.session;
+  return {
+    reportVersion: 1, generatedAtUnixMs: state.updatedAt,
+    software: { applicationVersion, implementationSha256, policyVersion: 2, node: process.version,
+      dependencies: metrics.dependencies || null },
+    host: { logicalCpus: os.cpus().length, totalMemoryBytes: os.totalmem(), freeMemoryBytes: os.freemem(), loadAverage: os.loadavg() },
+    settings: state.limits,
+    recording: { paused: state.recording.paused, bytes: state.recording.bytes,
+      freeBytes: state.recording.freeBytes, pendingBytes: state.recording.pendingBytes,
+      droppedPending: state.recording.droppedPending,
+      sessions: state.recording.sessions.map((item) => ({ startedAtUnixMs: item.startedAt,
+        status: item.video, droppedEvents: item.droppedEvents, errorCategory: errorCategory(item.error) })) },
+    training: { status: training.status, steps: training.steps, examples: training.examples,
+      loss: training.loss, losses: training.losses || null, publication: training.publication || null,
+      evaluation: training.evaluation || null, dataset: metrics.dataset || training.dataset || null,
+      resources: { decodeSeconds: metrics.decodeSeconds ?? null, trainingSeconds: metrics.trainingSeconds ?? null,
+        evaluationSeconds: metrics.evaluationSeconds ?? null, checkpointSeconds: metrics.checkpointSeconds ?? null, cpuSeconds: metrics.cpuSeconds ?? null,
+        peakRssMiB: metrics.peakRssMiB ?? null },
+      history: training.history || [], rejectionCategories: (training.rejectionReasons || []).map(errorCategory),
+      errorCategory: errorCategory(training.error), nextAttemptAtUnixMs: training.nextAttemptAt },
+    model: session ? { id: session.modelId, threshold: session.threshold, appliedThreshold: session.appliedThreshold } : null,
+    controller: controller ? { modelId: controller.modelId, sensorPresent: controller.sensorPresent || null,
+      stopCategory: errorCategory(controller.stopReason), history: (controller.history || []).map((item) => ({
+        ...item, submissions: item.submissions.map((submission) => ({ type: submission.type,
+          wheels: submission.wheels, result: submission.result === 'issued' ? 'issued' : errorCategory(submission.result) })) })) } : null,
+    sensorFields: metrics.policy?.sensorFields || null,
+    timing: { alignment: 'server_receipt', browserVideoLatencyMs: null, wheelCommandExpiryMs: null },
+    events: state.activity.map(({ at, message }) => ({ atUnixMs: at, message })),
+    unavailable: ['browser_video_latency', 'actual_physical_command_execution', 'live_training_cpu_utilization'],
+  };
+}
+module.exports = { report };
diff --git a/server/src/services/roverLearningService/driving.js b/server/src/services/roverLearningService/driving.js
index 5825d3b2..026bbc4e 100644
--- a/server/src/services/roverLearningService/driving.js
+++ b/server/src/services/roverLearningService/driving.js
@@ -19,6 +19,7 @@ function canControl(socket, roverId) {
 
 function createDriving({ root, config, onChange, activity }) {
   const sessions = new Map();
+  const recent = new Map();
   let stopping = false;
   let watchdog;
   let unsubscribe;
@@ -35,7 +36,8 @@ function createDriving({ root, config, onChange, activity }) {
     if (!OPERATING.has(command?.type)) throw new Error('Unsupported model command');
     const record = roverManager.rovers.get(session.roverId);
     if (command.type === 'drive') {
-      command.driveDirect = { left: clamp(command.driveDirect?.left, -500, 500), right: clamp(command.driveDirect?.right, -500, 500) };
+      const limit = Math.min(500, Number(record.meta?.maxWheelSpeed) || 500);
+      command.driveDirect = { left: Math.round(clamp(command.driveDirect?.left, -limit, limit)), right: Math.round(clamp(command.driveDirect?.right, -limit, limit)) };
     }
     if (command.type === 'motors') {
       command.motorPwm = { main: clamp(command.motorPwm?.main, -127, 127), side: clamp(command.motorPwm?.side, -127, 127), vacuum: clamp(command.motorPwm?.vacuum, 0, 127) };
@@ -69,6 +71,9 @@ function createDriving({ root, config, onChange, activity }) {
     const timer = setTimeout(() => session.worker.kill('SIGKILL'), 2000);
     session.done = session.closed.then(() => {
       clearTimeout(timer);
+      recent.delete(roverId);
+      recent.set(roverId, { modelId: session.modelId, stopReason: reason, history: session.history });
+      if (recent.size > 20) recent.delete(recent.keys().next().value);
       sessions.delete(roverId);
       activity('Controller stopped', { roverId, reason });
       onChange();
@@ -90,9 +95,10 @@ function createDriving({ root, config, onChange, activity }) {
     const worker = spawn(config.training.python, [path.join(__dirname, 'workers/infer.py'), '--model', directory,
       '--url', `rtsp://127.0.0.1:8554/${encodeURIComponent(roverId)}`, '--threads', String(config.driving.threads),
       '--threshold', String(config.driving.actionThreshold)], { stdio: ['pipe', 'pipe', 'pipe'], env: { ...process.env, PYTHONDONTWRITEBYTECODE: '1' } });
-    const session = { worker, socket, roverId, modelId, modelName: metadata.name, status: 'starting', startedAt: Date.now(), lastPredictionAt: null };
+    const session = { worker, socket, roverId, modelId, modelName: metadata.name, status: 'starting', startedAt: Date.now(), lastPredictionAt: null, threshold: config.driving.actionThreshold, history: [] };
     session.closed = new Promise((resolve) => worker.once('close', resolve));
     sessions.set(roverId, session);
+    recent.delete(roverId);
     let output = '';
     let stderr = '';
     worker.stdin.on('error', () => { stop(roverId, 'Worker input closed'); });
@@ -120,12 +126,24 @@ function createDriving({ root, config, onChange, activity }) {
           session.sensorAt = message.sensorAt;
           session.latencyMs = message.latencyMs;
           session.proposals = Array.isArray(message.proposals) ? message.proposals.slice(0, 64) : [];
-          session.threshold = message.threshold;
+          session.appliedThreshold = message.threshold;
+          session.wheelSpeeds = message.wheelSpeeds;
+          session.sensorPresent = message.sensorPresent;
           session.submissions = [];
-          if (!Array.isArray(message.commands) || message.commands.length > 64) throw new Error('Invalid action batch');
-          session.predictionStatus = message.commands.length ? 'Proposing actions' : 'Predicting no new action';
+          if (!Array.isArray(message.commands) || message.commands.length > 65) throw new Error('Invalid action batch');
+          session.predictionStatus = message.wheelSpeeds?.some((value) => value !== 0) ? 'Sending wheel controls' : 'Predicting stopped wheels';
           // Manual commands intentionally do not stop or pause this controller.
           for (const command of message.commands) transmit(session, command);
+          // Bound report history independently of camera and UI frame rates.
+          if (!session.history.length || Date.now() - session.history.at(-1).at >= 500) {
+            session.history.push({ at: Date.now(), wheelSpeeds: session.wheelSpeeds,
+              latencyMs: session.latencyMs, frameAgeMs: Date.now() - session.frameAt,
+              sensorAgeMs: Date.now() - session.sensorAt, threshold: session.appliedThreshold,
+              proposals: [...session.proposals].sort((a, b) => b.score - a.score).slice(0, 8).map(({ slot, score, reason }) => ({ slot, score, reason })),
+              submissions: session.submissions.slice(0, 16).map(({ command, result }) => ({ type: command.type, result,
+                wheels: command.type === 'drive' ? command.driveDirect : undefined })) });
+            if (session.history.length > 60) session.history.shift();
+          }
         } catch (error) { stop(roverId, error.message); break; }
       }
     });
@@ -158,11 +176,22 @@ function createDriving({ root, config, onChange, activity }) {
 
   return {
     attach, start, stop, canControl,
+    setThreshold(socket, roverId, value) {
+      const session = sessions.get(roverId);
+      if (!session || session.status === 'stopping' || !canControl(socket, roverId)) throw new Error('You cannot adjust this controller');
+      if (typeof value !== 'number' || !Number.isFinite(value) || value < .05 || value > .99) throw new Error('Threshold must be between 0.05 and 0.99');
+      session.threshold = value;
+      sendState(session, { kind: 'settings', ts: Date.now(), threshold: value });
+    },
+    getDiagnostics(id) {
+      const session = sessions.get(id);
+      return session ? { modelId: session.modelId, sensorPresent: session.sensorPresent, history: session.history } : recent.get(id) || null;
+    },
     isActive: (id) => sessions.has(id),
     getState: (id) => {
       const session = sessions.get(id);
       if (!session) return null;
-      const { worker, socket, closed, done, ...state } = session;
+      const { worker, socket, closed, done, history, ...state } = session;
       return { ...state, startedBy: socket.data?.nickname || socket.id, socketId: socket.id };
     },
     shutdown: async () => {
diff --git a/server/src/services/roverLearningService/recording.js b/server/src/services/roverLearningService/recording.js
index c94d084f..01b81d44 100644
--- a/server/src/services/roverLearningService/recording.js
+++ b/server/src/services/roverLearningService/recording.js
@@ -21,7 +21,7 @@ async function createRecording({ root, roverId, snapshot, logger, docked = false
   await fsp.mkdir(directory);
   const metadata = {
     version: 1, id, roverId, startedAt: Date.now(), endedAt: null,
-    controlProfile: controlProfile(snapshot.meta),
+    controlProfile: controlProfile(snapshot.meta), wheelSpeedLimit: snapshot.meta?.maxWheelSpeed ?? 500,
     timing: 'Video PTS uses server receiver Unix seconds. Events use Unix milliseconds and process monotonic nanoseconds. Browser display delay is not measured.',
     video: { file: 'video.mkv', codec: 'source-copy', timestampUnit: 'seconds', origin: 'unix' },
     events: 'events.ndjson', droppedEvents: 0, bufferOnly: docked,
diff --git a/server/src/services/roverLearningService/socketGateway.js b/server/src/services/roverLearningService/socketGateway.js
index 4c82b1c0..81b88ef6 100644
--- a/server/src/services/roverLearningService/socketGateway.js
+++ b/server/src/services/roverLearningService/socketGateway.js
@@ -3,6 +3,7 @@ const io = require('../../globals/io');
 const roverManager = require('../roverManager');
 const { isVerified } = require('../verificationService');
 const { listModels } = require('./models');
+const { report } = require('./diagnostics');
 const { compatible } = require('./capabilities');
 
 function createGateway({ root, driving, getSystemState, activity }) {
@@ -22,16 +23,16 @@ function createGateway({ root, driving, getSystemState, activity }) {
     const session = id ? driving.getState(id) : null;
     const canControl = Boolean(id && driving.canControl(socket, id));
     const system = getSystemState();
-    return {
+    const state = {
       available: true, roverId: id, updatedAt: Date.now(),
-      control: { canStart: canControl && !session, canStop: Boolean(session && (canControl || session.socketId === socket.id)),
+      control: { canStart: canControl && !session, canAdjust: canControl && Boolean(session), canStop: Boolean(session && (canControl || session.socketId === socket.id)),
         reason: !id ? 'Select a rover first' : !canControl ? 'You do not currently have control of this rover' : null },
       session,
       models: models.filter((model) => model.trainedRovers?.some((rover) => roverManager.canSeeRover(rover, socket)))
         .map((model) => ({ id: model.id, name: model.name, createdAt: model.createdAt,
           trainingSteps: model.trainingSteps, examplesProcessed: model.examplesProcessed,
           weightBytes: model.weightBytes, parameters: model.parameters, trainingLoss: model.trainingLoss,
-          evaluation: model.evaluation, validation: model.validation, distinctMinutes: model.distinctMinutes, controls: model.specification?.commands?.length || 0,
+          formatVersion: model.specification?.version, evaluation: model.evaluation, validation: model.validation, distinctMinutes: model.distinctMinutes, controls: model.specification?.commands?.length || 0,
           compatible: Boolean(id && compatible(model, roverManager.rovers.get(id))) })),
       catalogError: modelError,
       recording: { ...system.recording, sessions: system.recording.sessions.filter((s) => roverManager.canSeeRover(s.roverId, socket)) },
@@ -39,6 +40,8 @@ function createGateway({ root, driving, getSystemState, activity }) {
       limits: system.limits,
       activity: system.activity.filter((entry) => !entry.roverId || roverManager.canSeeRover(entry.roverId, socket)),
     };
+    state.diagnostics = viewers.get(socket)?.live ? report(state, id ? driving.getDiagnostics(id) : null) : null;
+    return state;
   }
 
   async function refresh() {
@@ -54,7 +57,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
       const ordinary = Date.now() - lastOrdinary >= 1000;
       if (ordinary) lastOrdinary = Date.now();
       for (const [socket, view] of viewers) {
-        if (ordinary || view.live) socket.volatile.emit('roverLearning:state', stateFor(socket, view.roverId));
+        if (ordinary || view.live || driving.isActive(view.roverId)) socket.volatile.emit('roverLearning:state', stateFor(socket, view.roverId));
       }
     } finally { refreshing = false; }
   }
@@ -74,6 +77,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
         if (!isVerified(socket)) throw new Error('Verification required');
         const roverId = String(payload.roverId || '');
         if (payload.action === 'start') await driving.start(socket, roverId, String(payload.modelId || ''));
+        else if (payload.action === 'threshold') driving.setThreshold(socket, roverId, payload.value);
         else if (payload.action === 'stop') {
           const session = driving.getState(roverId);
           if (!session || !(driving.canControl(socket, roverId) || session.socketId === socket.id)) throw new Error('You cannot stop this controller');
diff --git a/server/src/services/roverLearningService/training.js b/server/src/services/roverLearningService/training.js
index 465874c6..039b56be 100644
--- a/server/src/services/roverLearningService/training.js
+++ b/server/src/services/roverLearningService/training.js
@@ -10,6 +10,7 @@ function createTrainer({ root, config, actionThreshold, logger }) {
   const leases = new Set();
   const trainingRoot = path.join(root, 'training');
   let ledger = {};
+  const history = [];
   let child = null;
   let completion = Promise.resolve();
   let stopped = false;
@@ -30,7 +31,7 @@ function createTrainer({ root, config, actionThreshold, logger }) {
         }
       }
       try {
-        const saved = JSON.parse(await fs.readFile(path.join(trainingRoot, 'schedule.json'), 'utf8'));
+        const saved = JSON.parse(await fs.readFile(path.join(trainingRoot, 'schedule-v3.json'), 'utf8'));
         ledger = saved.sessions;
         state = { ...saved.progress, status: 'waiting' };
         if (!ledger || typeof ledger !== 'object') throw new Error('Invalid training schedule');
@@ -43,7 +44,7 @@ function createTrainer({ root, config, actionThreshold, logger }) {
   }
 
   async function saveLedger() {
-    const filename = path.join(trainingRoot, 'schedule.json');
+    const filename = path.join(trainingRoot, 'schedule-v3.json');
     await fs.writeFile(`${filename}.tmp`, JSON.stringify({ sessions: ledger, progress: state }));
     await fs.rename(`${filename}.tmp`, filename);
   }
@@ -117,8 +118,8 @@ function createTrainer({ root, config, actionThreshold, logger }) {
           if (message.kind === 'complete') result = message;
           if (message.kind === 'error') errorMessage = message.message;
           if (message.kind === 'skipped') logger.warn('Training skipped recording', message);
-          if (message.kind === 'dataset') state = { ...state, lastSampledWindows: message.sampled, lastAvailableWindows: message.windows };
-          if (message.kind === 'progress') state = { ...state, steps: message.steps, examples: message.examples, loss: message.loss };
+          if (message.kind === 'dataset') state = { ...state, lastSampledWindows: message.sampled, lastAvailableWindows: message.windows, dataset: message.diagnostics };
+          if (message.kind === 'progress') state = { ...state, steps: message.steps, examples: message.examples, loss: message.loss, losses: message.losses };
         } catch { errorMessage = 'Invalid training worker message'; }
       }
     });
@@ -138,7 +139,7 @@ function createTrainer({ root, config, actionThreshold, logger }) {
             state = { ...state, status: stopped ? 'stopped' : 'waiting', steps: result.steps ?? state.steps,
               completedAt: Date.now(), elapsedSeconds: result.elapsedSeconds ?? null, error: null,
               examples: result.examples ?? state.examples, loss: result.loss ?? null,
-              publication: result.publication ?? state.publication, evaluation: result.evaluation ?? state.evaluation,
+              diagnostics: result.diagnostics ?? state.diagnostics, publication: result.publication ?? state.publication, evaluation: result.evaluation ?? state.evaluation,
               reason: result.reason ?? 'Waiting for the next scheduled training job' };
             await saveLedger();
             logger.info('Training job completed', { ...state, model: result.published?.name || null });
@@ -147,6 +148,10 @@ function createTrainer({ root, config, actionThreshold, logger }) {
           state = { ...state, status: 'error', error: error.message };
           logger.error('Training result persistence failed', { error: error.message });
         } finally {
+          history.push({ at: Date.now(), status: state.status, steps: state.steps, loss: state.loss,
+            losses: state.losses || null, evaluation: state.evaluation || null,
+            elapsedSeconds: state.elapsedSeconds || null });
+          if (history.length > 20) history.shift();
           leases.clear();
           child = null;
           nextRun = Date.now() + config.intervalSeconds * 1000;
@@ -166,7 +171,7 @@ function createTrainer({ root, config, actionThreshold, logger }) {
 
   return {
     leases, start, tick, cancel,
-    getState: () => ({ ...state, nextAttemptAt: nextRun || null, leasedSessions: leases.size,
+    getState: () => ({ ...state, history, nextAttemptAt: nextRun || null, leasedSessions: leases.size,
       visitedSessions: Object.values(ledger).filter((entry) => entry.rounds).length,
       skippedSessions: Object.values(ledger).filter((entry) => entry.rejected).length,
       rejectionReasons: [...new Set(Object.values(ledger).filter((entry) => entry.rejected).map((entry) => entry.rejected))].slice(0, 10) }),
diff --git a/server/src/services/roverLearningService/workers/dataset.py b/server/src/services/roverLearningService/workers/dataset.py
index 61516197..84e4ac8b 100644
--- a/server/src/services/roverLearningService/workers/dataset.py
+++ b/server/src/services/roverLearningService/workers/dataset.py
@@ -47,7 +47,7 @@ def load_events(directory):
     return metadata, sorted(events, key=lambda e: e['ts'])
 
 
-def prepare(directory, schema):
+def prepare(directory, schema, stats):
     metadata, events = load_events(directory)
     requests = {}
     accepted = set()
@@ -72,9 +72,28 @@ def prepare(directory, schema):
     if not sensors:
         raise ValueError('No sensor observations')
     candidate = copy.deepcopy(schema)
-    history, targets = [], []
+    history, targets, wheels = [], [], [(stamp, None) for stamp in boundaries]
+    stats.update({'sensorFrames': len(sensors), 'dispatches': len(dispatches),
+                  'failedCommands': len(failed), 'sensorPresentFraction': np.mean([row[1][32:] for row in sensors], axis=0).tolist()})
     for data in dispatches:
-        encoded = encode_command(data.get('command') or {}, candidate, extend=True)
+        command = data.get('command') or {}
+        request = requests.get(data.get('requestId'))
+        human = (data.get('source') == 'client' and request and data.get('commandId') in accepted
+                 and data.get('commandId') not in failed)
+        stamp = data['ts']
+        if command.get('type') == 'drive':
+            direct = command.get('driveDirect') or {}
+            pair = [direct.get('left'), direct.get('right')]
+            if human and all(isinstance(v, (int, float)) and math.isfinite(v) for v in pair):
+                wheels.append((stamp, np.clip(np.array(pair, dtype=np.float32), -metadata.get('wheelSpeedLimit', 500), metadata.get('wheelSpeedLimit', 500)) / 500))
+            else:
+                wheels.append((stamp, None))
+        elif command.get('type') in ('raw', 'reset', 'reboot', 'update', 'sensorStream'):
+            # Raw OI can change mode or motion; do not assume the last wheel
+            # command survives it. A later explicit human drive resolves intent.
+            wheels.append((stamp, None))
+            boundaries.append(stamp)
+        encoded = encode_command(command, candidate, extend=True)
         if encoded is None:
             continue
         stamp = data['ts']
@@ -93,17 +112,22 @@ def prepare(directory, schema):
     if not targets:
         raise ValueError('No accepted client operating commands')
     schema[:] = candidate
-    return metadata, sensors, sorted(history, key=lambda x: x[0]), sorted(targets, key=lambda x: x[0]), sorted(boundaries)
+    return metadata, sensors, sorted(wheels, key=lambda x: x[0]), sorted(history, key=lambda x: x[0]), sorted(targets, key=lambda x: x[0]), sorted(boundaries)
 
 
-def windows(directory, schema, cancelled=lambda: False):
+def windows(directory, schema, cancelled=lambda: False, stats=None):
     directory = Path(directory)
-    metadata, sensors, history, targets, boundaries = prepare(directory, schema)
+    stats = stats if stats is not None else {}
+    metadata, sensors, wheels, history, targets, boundaries = prepare(directory, schema, stats)
+    wheel_times = [row[0] for row in wheels]
+    stats.update({'usableWindows': 0, 'movingWindows': 0, 'stoppedWindows': 0,
+                  'unknownWheelWindows': 0, 'staleSensorWindows': 0, 'boundaryWindows': 0,
+                  'ambiguousWindows': 0, 'videoFrames': 0, 'maxVideoGapMs': 0})
     sensor_times = [row[0] for row in sensors]
     target_times = [row[0] for row in targets]
     available = np.zeros(SLOTS, dtype=np.float32)
     for _, slot, _ in history:
-        available[slot] = 1
+        available[slot] = float(schema[slot]['template']['type'] != 'drive')
     command_values = np.zeros((SLOTS, VALUES), dtype=np.float32)
     command_times = np.full(SLOTS, -np.inf)
     cursor = 0
@@ -127,6 +151,9 @@ def windows(directory, schema, cancelled=lambda: False):
         stamp = float(frame.pts * frame.time_base) * 1000
         if not math.isfinite(stamp) or stamp < last_pts:
             raise ValueError('Invalid/nonmonotonic video timestamps')
+        stats['videoFrames'] += 1
+        if math.isfinite(last_pts):
+            stats['maxVideoGapMs'] = max(stats['maxVideoGapMs'], stamp - last_pts)
         last_pts = stamp
         if not metadata['startedAt'] - 2000 <= stamp <= metadata['endedAt'] + 2000:
             raise ValueError('Video PTS is not aligned to session Unix time')
@@ -142,6 +169,7 @@ def windows(directory, schema, cancelled=lambda: False):
             cursor += 1
         sensor_index = bisect.bisect_right(sensor_times, stamp) - 1
         if sensor_index < 0 or stamp - sensor_times[sensor_index] > 1000:
+            stats['staleSensorWindows'] += 1
             recent.clear()
             continue
         seen = np.isfinite(command_times).astype(np.float32)
@@ -158,7 +186,14 @@ def windows(directory, schema, cancelled=lambda: False):
         if len(chosen) != 4 or stamp + 100 > metadata['endedAt']:
             continue
         if bisect.bisect_right(boundaries, stamp + 100) > bisect.bisect_left(boundaries, chosen[0][0]):
+            stats['boundaryWindows'] += 1
             continue
+        before = bisect.bisect_left(wheel_times, stamp) - 1
+        after = bisect.bisect_right(wheel_times, stamp + 100) - 1
+        if before < 0 or after < 0 or wheels[before][1] is None or wheels[after][1] is None:
+            stats['unknownWheelWindows'] += 1
+            continue
+        wheel_target, previous_wheels = wheels[after][1], wheels[before][1]
         start = bisect.bisect_left(target_times, stamp)
         end = bisect.bisect_left(target_times, stamp + 100)
         actions = np.zeros(SLOTS, dtype=np.float32)
@@ -168,6 +203,8 @@ def windows(directory, schema, cancelled=lambda: False):
         for _, slot, vector in targets[start:end]:
             template = schema[slot]['template']
             family = template['type']
+            if family == 'drive':
+                continue
             if family == 'peripheral':
                 peripheral = template.get('peripheral') or {}
                 family += ':' + str(peripheral.get('id')) + ':' + str(peripheral.get('control'))
@@ -178,5 +215,8 @@ def windows(directory, schema, cancelled=lambda: False):
             families.add(family)
             actions[slot], values[slot] = 1, vector
         if ambiguous:
+            stats['ambiguousWindows'] += 1
             continue
-        yield np.stack([row[1] for row in chosen]), np.stack([row[2] for row in chosen]), actions, values, available
+        stats['usableWindows'] += 1
+        stats['movingWindows' if np.max(np.abs(wheel_target)) > .02 else 'stoppedWindows'] += 1
+        yield np.stack([row[1] for row in chosen]), np.stack([row[2] for row in chosen]), actions, values, available, wheel_target, previous_wheels
diff --git a/server/src/services/roverLearningService/workers/infer.py b/server/src/services/roverLearningService/workers/infer.py
index a0d41239..4d087d2e 100644
--- a/server/src/services/roverLearningService/workers/infer.py
+++ b/server/src/services/roverLearningService/workers/infer.py
@@ -74,7 +74,9 @@ def main():
             with mutex:
                 while observations and observations[0]['ts'] < stamp:
                     event = observations.popleft()
-                    if event['kind'] == 'sensor':
+                    if event['kind'] == 'settings':
+                        args.threshold = max(.05, min(.99, float(event['threshold'])))
+                    elif event['kind'] == 'sensor':
                         sensors, sensor_time = event['data'], event['ts']
                     elif event['kind'] == 'command':
                         try:
@@ -102,16 +104,19 @@ def main():
                 continue
             before = time.perf_counter()
             with torch.inference_mode():
-                logits, numeric = model(torch.from_numpy(np.stack([row[1] for row in selected])).unsqueeze(0).float() / 255,
+                logits, numeric, wheel_output = model(torch.from_numpy(np.stack([row[1] for row in selected])).unsqueeze(0).float() / 255,
                                         torch.from_numpy(np.stack([row[2] for row in selected])).unsqueeze(0))
                 probabilities = logits[0].sigmoid().tolist()
                 predictions = numeric[0].tolist()
+                wheel_speeds = [round(value * 500) for value in wheel_output[0].tolist()]
             if not all(math.isfinite(value) for value in probabilities):
                 raise ValueError('Nonfinite model output')
             families = {}
             active = set()
             proposals = []
             for slot, descriptor in enumerate(schema):
+                if descriptor['template']['type'] == 'drive':
+                    continue
                 command = json.loads(json.dumps(descriptor['template']))
                 family = command['type']
                 if family == 'peripheral':
@@ -147,8 +152,10 @@ def main():
             for _, _, slot, discrete in families.values():
                 if discrete:
                     latched.add(slot)
+            commands.insert(0, {'type': 'drive', 'driveDirect': dict(zip(('left', 'right'), wheel_speeds))})
             print(json.dumps({'kind': 'prediction', 'frameAt': stamp, 'sensorAt': sensor_time,
                               'latencyMs': (time.perf_counter() - before) * 1000,
+                              'wheelSpeeds': wheel_speeds, 'sensorPresent': sensor_vector(sensors)[32:].tolist(),
                               'commands': commands, 'proposals': proposals, 'threshold': args.threshold}, allow_nan=False), flush=True)
 
 
diff --git a/server/src/services/roverLearningService/workers/policy.py b/server/src/services/roverLearningService/workers/policy.py
index 79bc97e6..e73853b8 100644
--- a/server/src/services/roverLearningService/workers/policy.py
+++ b/server/src/services/roverLearningService/workers/policy.py
@@ -12,7 +12,7 @@ import numpy as np
 import torch
 from torch import nn
 
-VERSION = 1
+VERSION = 2
 SLOTS = 64
 VALUES = 8
 FRAMES = 4
@@ -109,6 +109,7 @@ class Policy(nn.Module):
             nn.Linear(128 * 3 * 4, 128), nn.ReLU(),
         )
         self.history = nn.GRU(128 + STATE_SIZE, 128, batch_first=True)
+        self.wheels = nn.Linear(128, 2)
         self.actions = nn.Linear(128, SLOTS)
         self.values = nn.Linear(128, SLOTS * VALUES)
 
@@ -117,15 +118,17 @@ class Policy(nn.Module):
         encoded = self.vision(images.reshape(-1, 3, HEIGHT, WIDTH)).reshape(batch, frames, -1)
         history, _ = self.history(torch.cat((encoded, state), dim=-1))
         last = history[:, -1]
-        return self.actions(last), self.values(last).reshape(batch, SLOTS, VALUES).tanh()
+        return self.actions(last), self.values(last).reshape(batch, SLOTS, VALUES).tanh(), self.wheels(last).tanh()
 
 
 def specification(schema):
-    return {'version': VERSION, 'architecture': 'spatial-cnn-gru-v1',
+    return {'version': VERSION, 'architecture': 'spatial-cnn-gru-wheels-v2',
             'frames': FRAMES, 'height': HEIGHT, 'width': WIDTH,
             'historyStrideMs': 300, 'decisionIntervalMs': 100,
             'stateSize': STATE_SIZE, 'sensorFields': SENSORS,
             'normalization': '2/pi * atan(value/scale); missing sensors have mask=0',
             'maxCommandShapes': SLOTS, 'numericFieldsPerShape': VALUES,
-            'commands': schema, 'actionSemantics': 'Events in the next 100 ms; zero means no new command',
+            'commands': schema, 'actionSemantics': 'Continuous wheels at +100ms; accessories are events in the next 100ms',
+            'wheelScaleMmPerSecond': 500, 'wheelOrder': ['left', 'right'],
+            'wheelCommandExpiryMs': None, 'unknownWheelIntent': 'Excluded until next accepted human drive',
             'timing': 'Server-receipt alignment; browser display latency unmeasured'}
diff --git a/server/src/services/roverLearningService/workers/train.py b/server/src/services/roverLearningService/workers/train.py
index 4c004de8..0a834c5d 100644
--- a/server/src/services/roverLearningService/workers/train.py
+++ b/server/src/services/roverLearningService/workers/train.py
@@ -11,6 +11,7 @@ import json
 import os
 from pathlib import Path
 import random
+import resource
 import signal
 import time
 import uuid
@@ -70,7 +71,7 @@ def main():
     model = Policy().cpu()
     optimizer = torch.optim.AdamW(model.parameters(), lr=0.0001)
     # A fresh training lineage prevents previously trained footage leaking into validation.
-    resume_path = root / 'training' / 'resume-v2.pt'
+    resume_path = root / 'training' / 'resume-v3.pt'
     schema, steps, examples, last_published = [], 0, 0, 0
     trained_rovers = set()
     control_profiles = []
@@ -89,6 +90,9 @@ def main():
         control_profiles = saved.get('controlProfiles', [])
         distinct_windows = saved.get('distinctWindows', {})
         published_windows = saved.get('publishedWindows', 0)
+    cpu_started = time.process_time()
+    decode_started = time.monotonic()
+    dataset_stats = []
     initial_steps = steps
     pool, validation, accepted, rejected = [], [], [], {}
     observed_windows = {}
@@ -102,18 +106,34 @@ def main():
             break
         candidate_schema = copy.deepcopy(schema)
         samples, seen = [], 0
+        stats = {}
+        buckets = {key: [] for key in ('stopped', 'forward', 'reverse', 'turn')}
+        counts = dict.fromkeys(buckets, 0)
+        held_out = is_held_out(session_id)
         try:
             directory = root / 'recordings' / session_id
-            for sample in windows(directory, candidate_schema, cancelled):
+            for sample in windows(directory, candidate_schema, cancelled, stats):
                 seen += 1
-                # Uniform reservoir across the whole recording, not just the
-                # opening seconds. Frames remain uint8 until a batch is used.
-                if len(samples) < per_session:
-                    samples.append(sample)
+                # Keep evaluation naturally distributed. Training reserves space
+                # for ordinary turns/reversing so idle or straight motion cannot
+                # consume the entire sample budget. No scripted driving required.
+                if held_out:
+                    reservoir, count, capacity = samples, seen, per_session
                 else:
-                    index = random.randrange(seen)
-                    if index < per_session:
-                        samples[index] = sample
+                    left, right = sample[5]
+                    category = ('stopped' if max(abs(left), abs(right)) <= .02 else
+                                'turn' if abs(left - right) > .1 else
+                                'reverse' if left + right < 0 else 'forward')
+                    counts[category] += 1
+                    reservoir, count, capacity = buckets[category], counts[category], max(1, per_session // 4)
+                if len(reservoir) < capacity:
+                    reservoir.append(sample)
+                else:
+                    index = random.randrange(count)
+                    if index < capacity:
+                        reservoir[index] = sample
+            if not held_out:
+                samples = [sample for bucket in buckets.values() for sample in bucket]
             if cancelled():
                 break  # Do not call a partially decoded recording validated.
             if not samples:
@@ -123,6 +143,8 @@ def main():
             held_out = is_held_out(session_id)
             if held_out:
                 if candidate_schema != schema:
+                    dataset_stats.append({**stats, 'partition': 'heldOut', 'sampledWindows': len(samples),
+                                          'skipReason': 'Vocabulary absent from training data'})
                     continue  # Retry after training data introduces these command shapes.
                 validation.extend(samples)
             else:
@@ -136,15 +158,20 @@ def main():
             profile = metadata.get('controlProfile')
             if not held_out and profile is not None and profile not in control_profiles:
                 control_profiles.append(profile)
-            emit('dataset', sessionId=session_id, windows=seen, sampled=len(samples))
+            stats.update({'partition': 'heldOut' if held_out else 'training', 'sampledWindows': len(samples)})
+            dataset_stats.append(stats)
+            emit('dataset', sessionId=session_id, windows=seen, sampled=len(samples), diagnostics=stats)
         except (ValueError, KeyError, TypeError, OSError, EOFError, IndexError, OverflowError, av.error.FFmpegError) as error:
             rejected[session_id] = str(error)[:500]
             emit('skipped', sessionId=session_id, reason=rejected[session_id])
-    if len(pool) < config['minimumSamples'] or not any(sample[2].any() for sample in pool) or cancelled():
+    if len(pool) < config['minimumSamples'] or not any(np.max(np.abs(sample[5])) > .02 for sample in pool) or cancelled():
         emit('complete', trained=False, accepted=[], rejected=rejected, samples=len(pool),
+             diagnostics={'dataset': dataset_stats, 'decodeSeconds': time.monotonic() - decode_started},
              reason='Stopped/time limit' if cancelled() else 'Waiting for enough training-partition samples with human actions')
         return
 
+    decode_seconds = time.monotonic() - decode_started
+    train_started = time.monotonic()
     numeric_mask = torch.zeros(SLOTS, VALUES)
     for slot, descriptor in enumerate(schema):
         numeric_mask[slot, :len(descriptor['fields'])] = 1
@@ -161,16 +188,17 @@ def main():
             if cancelled() or steps - initial_steps >= config['maxStepsPerJob']:
                 break
             batch = pool[offset:offset + config['batchSize']]
-            images, states, targets, values, available = [torch.from_numpy(np.stack(items)) for items in zip(*batch)]
+            images, states, targets, values, available, wheel_targets, previous_wheels = [torch.from_numpy(np.stack(items)) for items in zip(*batch)]
             images = images.float().div_(255)
             optimizer.zero_grad(set_to_none=True)
-            action_logits, predictions = model(images, states)
+            action_logits, predictions, wheel_predictions = model(images, states)
             event_loss = functional.binary_cross_entropy_with_logits(action_logits, targets,
                                                                        pos_weight=positive_weight, reduction='none')
             event_loss = (event_loss * available).sum() / available.sum().clamp_min(1)
             mask = numeric_mask.unsqueeze(0) * targets.unsqueeze(-1)
             value_loss = ((predictions - values).square() * mask).sum() / mask.sum().clamp_min(1)
-            loss = event_loss + value_loss
+            wheel_loss = functional.smooth_l1_loss(wheel_predictions, wheel_targets)
+            loss = wheel_loss + event_loss + value_loss
             if not torch.isfinite(loss):
                 raise ValueError('Nonfinite training loss; checkpoint not saved')
             loss.backward()
@@ -180,13 +208,16 @@ def main():
             examples += len(batch)
             losses.append(loss.item())
             if steps % 10 == 0:
-                emit('progress', steps=steps, examples=examples, loss=loss.item())
+                emit('progress', steps=steps, examples=examples, loss=loss.item(),
+                     losses={'wheels': wheel_loss.item(), 'events': event_loss.item(), 'accessoryValues': value_loss.item()})
         if cancelled() or steps - initial_steps >= config['maxStepsPerJob']:
             break
     if steps == initial_steps:
         emit('complete', trained=False, accepted=[], rejected=rejected, reason='No training steps completed')
         return
 
+    training_seconds = time.monotonic() - train_started
+    evaluation_started = time.monotonic()
     distinct_windows.update(observed_windows)
     unique_count = sum(distinct_windows.values())
     evaluation = {'status': 'waiting for held-out sessions', 'windows': len(validation)}
@@ -195,13 +226,15 @@ def main():
         true_positive = predicted_positive = actual_positive = 0
         value_error = value_count = 0
         evaluated = 0
+        wheel_error = stopped_error = persistence_error = 0
+        changed_error = changed_persistence = changed_count = moving_count = 0
         with torch.inference_mode():
             for offset in range(0, len(validation), config['batchSize']):
                 if cancelled():
                     break
                 batch = validation[offset:offset + config['batchSize']]
-                images, states, targets, values, available = [torch.from_numpy(np.stack(items)) for items in zip(*batch)]
-                logits, predictions = model(images.float() / 255, states)
+                images, states, targets, values, available, wheel_targets, previous_wheels = [torch.from_numpy(np.stack(items)) for items in zip(*batch)]
+                logits, predictions, wheel_predictions = model(images.float() / 255, states)
                 predicted = (logits.sigmoid() >= job['actionThreshold']) & available.bool()
                 actual = targets.bool() & available.bool()
                 true_positive += (predicted & actual).sum().item()
@@ -210,16 +243,42 @@ def main():
                 mask = numeric_mask.unsqueeze(0) * targets.unsqueeze(-1)
                 value_error += ((predictions - values).square() * mask).sum().item()
                 value_count += mask.sum().item()
+                errors = (wheel_predictions - wheel_targets).abs().mean(dim=1) * 500
+                persistence = (previous_wheels - wheel_targets).abs().mean(dim=1) * 500
+                changed = (previous_wheels - wheel_targets).abs().amax(dim=1) > .02
+                changed_error += errors[changed].sum().item()
+                changed_persistence += persistence[changed].sum().item()
+                changed_count += changed.sum().item()
+                moving_count += (wheel_targets.abs().amax(dim=1) > .02).sum().item()
+                wheel_error += errors.sum().item()
+                stopped_error += wheel_targets.abs().mean(dim=1).sum().item() * 500
+                persistence_error += persistence.sum().item()
                 evaluated += len(batch)
         precision = true_positive / max(1, predicted_positive)
         recall = true_positive / max(1, actual_positive)
         mse = value_error / max(1, value_count)
-        # A basic imitation gate, not an autonomous-driving certification.
-        passed = (evaluated == len(validation) and evaluated >= 128 and actual_positive >= 32
-                  and precision >= .5 and recall >= .5 and value_count > 0 and mse <= .1)
+        wheel_mae = wheel_error / max(1, evaluated)
+        stopped_mae = stopped_error / max(1, evaluated)
+        persistence_mae = persistence_error / max(1, evaluated)
+        changed_mae = changed_error / max(1, changed_count)
+        changed_baseline = changed_persistence / max(1, changed_count)
+        # Check control changes separately: copying the previous speed can look
+        # excellent on long straight runs without learning to steer or stop.
+        wheels_pass = (evaluated == len(validation) and evaluated >= 128 and moving_count >= 32
+                       and changed_count >= 32 and wheel_mae < stopped_mae
+                       and wheel_mae <= persistence_mae and changed_mae < changed_baseline)
+        accessories_pass = (predicted_positive == 0 if actual_positive == 0 else
+                            actual_positive >= 32 and precision >= .5 and recall >= .5)
+        passed = wheels_pass and accessories_pass and (value_count == 0 or mse <= .1)
         evaluation = {'status': 'passed imitation gate' if passed else 'imitation gate not met',
                       'windows': evaluated, 'precision': precision, 'recall': recall,
-                      'numericMse': mse, 'positiveActions': actual_positive}
+                      'numericMse': mse, 'positiveActions': actual_positive,
+                      'wheelMaeMmPerSecond': wheel_mae, 'stoppedBaselineMaeMmPerSecond': stopped_mae,
+                      'previousSpeedBaselineMaeMmPerSecond': persistence_mae,
+                      'changedWheelMaeMmPerSecond': changed_mae, 'changedBaselineMaeMmPerSecond': changed_baseline,
+                      'changedWindows': changed_count, 'movingWindows': moving_count,
+                      'wheelsPassed': wheels_pass, 'accessoriesPassed': accessories_pass}
+    evaluation_seconds = time.monotonic() - evaluation_started
     publication = {'distinctMinutes': unique_count / 600,
                    'newMinutes': (unique_count - published_windows) / 600,
                    'minimumMinutes': config['minimumDrivingMinutes'],
@@ -236,6 +295,7 @@ def main():
     if cancelled():
         reasons.append('Job time budget reached')
     publication['reason'] = '; '.join(reasons) or 'Published'
+    save_started = time.monotonic()
     published = None
     if not reasons:
         adjectives = ['amber', 'curious', 'gentle', 'quiet', 'silver', 'bright', 'merry', 'sleepy']
@@ -270,9 +330,15 @@ def main():
         'controlProfiles': control_profiles, 'distinctWindows': distinct_windows,
         'publishedWindows': published_windows,
     }, resume_path)
+    diagnostics = {'dataset': dataset_stats, 'decodeSeconds': decode_seconds,
+                   'trainingSeconds': training_seconds, 'evaluationSeconds': evaluation_seconds, 'checkpointSeconds': time.monotonic() - save_started,
+                   'cpuSeconds': time.process_time() - cpu_started,
+                   'peakRssMiB': resource.getrusage(resource.RUSAGE_SELF).ru_maxrss / 1024,
+                   'dependencies': {'torch': str(torch.__version__), 'numpy': str(np.__version__), 'av': str(av.__version__)},
+                   'policy': specification(schema), 'browserVideoLatencyMs': None}
     emit('complete', trained=True, accepted=accepted, rejected=rejected,
          steps=steps, examples=examples, loss=sum(losses) / len(losses),
-         published=published, publication=publication, evaluation=evaluation, elapsedSeconds=time.monotonic() - started)
+         published=published, publication=publication, evaluation=evaluation, diagnostics=diagnostics, elapsedSeconds=time.monotonic() - started)
 
 
 if __name__ == '__main__':
diff --git a/webui/src/components/vip/VipRoverLearningCard.jsx b/webui/src/components/vip/VipRoverLearningCard.jsx
index 0754b198..72d93586 100644
--- a/webui/src/components/vip/VipRoverLearningCard.jsx
+++ b/webui/src/components/vip/VipRoverLearningCard.jsx
@@ -25,6 +25,24 @@ function Group({ title, children }) {
   </section>;
 }
 
+const actionNames = { motors: 'Brushes / vacuum', servo: 'Camera tilt', headlight: 'Headlight',
+  laser: 'Laser', horn: 'Horn', peripheral: 'Accessory', song: 'Beeper', raw: 'Recorded control' };
+
+function WheelMeter({ label, speed }) {
+  const known = Number.isFinite(speed);
+  const value = known ? Math.max(-500, Math.min(500, speed)) : 0;
+  return <div className="surface-muted min-w-0 space-y-1">
+    <div className="flex justify-between gap-2 text-xs"><span>{label}</span><span>{known ? `${value} mm/s` : 'Waiting'}</span></div>
+    <div role="meter" aria-label={label} aria-valuemin={-500} aria-valuemax={500} aria-valuenow={value}
+      aria-valuetext={known ? `${value} millimeters per second` : 'Unavailable'} className="relative h-3 overflow-hidden rounded bg-slate-800">
+      <div className={`absolute inset-y-0 rounded ${value < 0 ? 'bg-amber-400' : 'bg-sky-400'}`}
+        style={{ left: `${value < 0 ? 50 + value / 10 : 50}%`, width: `${Math.abs(value) / 10}%` }} />
+      <div className="absolute inset-y-0 left-1/2 w-px bg-slate-400" />
+    </div>
+    <div className="flex justify-between text-xs text-slate-500"><span>Reverse</span><span>Forward</span></div>
+  </div>;
+}
+
 export default function VipRoverLearningCard() {
   const enabled = useSessionSelector((state) => isFeatureEnabled(state, 'roverLearning') && Boolean(state.session?.isVerified));
   const roverId = useSessionSelector((state) => state.session?.assignment?.roverId || null);
@@ -37,6 +55,8 @@ function LearningCard({ roverId }) {
   const [snapshot, setSnapshot] = useState(null);
   const [selectedId, setSelectedId] = useState('');
   const [detailsOpen, setDetailsOpen] = useState(false);
+  const [thresholdDraft, setThresholdDraft] = useState(null);
+  const [copyStatus, setCopyStatus] = useState('');
   const [working, setWorking] = useState(false);
   const [error, setError] = useState('');
   const { value: settings, save } = useSettingsNamespace('roverLearning', { favorites: [] });
@@ -78,15 +98,27 @@ function LearningCard({ roverId }) {
   const limits = state?.limits;
   const now = state?.updatedAt || 0;
 
-  const act = (action) => {
+  const act = (action, value) => {
     setWorking(true);
     setError('');
-    socket.timeout(10000).emit('roverLearning:action', { action, roverId, modelId: chosen?.id }, (failure, response) => {
+    socket.timeout(10000).emit('roverLearning:action', { action, value, roverId, modelId: chosen?.id }, (failure, response) => {
       setWorking(false);
+      if (action === 'threshold') setThresholdDraft(null);
       if (failure || response?.error) setError(response?.error || 'The server did not respond. Check the controller status before trying again.');
       else if (response?.state) setSnapshot(response.state);
     });
   };
+  const commitThreshold = (event) => {
+    const value = Number(event.currentTarget.value);
+    if (!working && state?.control?.canAdjust && value !== session?.threshold) act('threshold', value);
+  };
+  const copyDiagnostics = async () => {
+    try {
+      if (!state?.diagnostics) return;
+      await navigator.clipboard.writeText(JSON.stringify(state.diagnostics));
+      setCopyStatus('Diagnostics copied');
+    } catch { setCopyStatus('Clipboard unavailable. Select and copy the report below.'); }
+  };
   const favorite = () => {
     if (!chosen) return;
     save((current) => {
@@ -103,7 +135,7 @@ function LearningCard({ roverId }) {
       <div className="flex flex-wrap items-center justify-center gap-1">
         <select aria-label="Rover model" className={fieldClass} value={chosen?.id || ''} onChange={(event) => setSelectedId(event.target.value)} disabled={working || !models.length}>
           {!models.length && <option value="">No published models yet</option>}
-          {models.map((model) => <option key={model.id} value={model.id}>{favorites.includes(model.id) ? '★ ' : ''}{model.name}{model.compatible ? '' : ' (incompatible)'}</option>)}
+          {models.map((model) => <option key={model.id} value={model.id}>{favorites.includes(model.id) ? '★ ' : ''}{model.name}{model.compatible ? '' : model.formatVersion !== 2 ? ' (older model format)' : ' (incompatible)'}</option>)}
         </select>
         <button type="button" className="button-dark text-sm disabled:opacity-50" aria-pressed={Boolean(chosen && favorites.includes(chosen.id))} disabled={!chosen} onClick={favorite}>
           {chosen && favorites.includes(chosen.id) ? '★ Favorite' : '☆ Favorite'}
@@ -113,12 +145,45 @@ function LearningCard({ roverId }) {
         <button type="button" className="button-dark text-sm disabled:opacity-50" disabled={working || !state?.control?.canStart || !chosen?.compatible} onClick={() => act('start')}>Start</button>
         <button type="button" className="button-dark text-sm disabled:opacity-50" disabled={working || !state?.control?.canStop} onClick={() => act('stop')}>Stop</button>
       </div>
+      {session && <section className="space-y-2" aria-label="Live model actions">
+        <p className="text-center text-xs text-sky-300">{session.predictionStatus || 'Waiting for fresh video and sensors'}</p>
+        <div className="grid grid-cols-2 gap-2">
+          <WheelMeter label="Predicted left wheel" speed={session.wheelSpeeds?.[0]} />
+          <WheelMeter label="Predicted right wheel" speed={session.wheelSpeeds?.[1]} />
+        </div>
+        <label className="surface-muted block space-y-1 text-xs">
+          <span className="flex justify-between gap-2"><span>Accessory action threshold</span><span>{(thresholdDraft ?? session.threshold ?? .7).toFixed(2)}</span></span>
+          <input type="range" min="0.05" max="0.99" step="0.01" className="w-full accent-sky-400"
+            value={thresholdDraft ?? session.threshold ?? .7} disabled={working || !state?.control?.canAdjust}
+            onChange={(event) => setThresholdDraft(Number(event.target.value))}
+            onPointerUp={commitThreshold} onKeyUp={commitThreshold} onBlur={commitThreshold} />
+          <span className="block text-slate-400">Lower allows more accessory actions. Wheel speeds are independent.</span>
+        </label>
+        <div className="grid max-h-52 grid-cols-1 gap-1 overflow-y-auto @[28rem]:grid-cols-2">
+          {session.proposals?.map((proposal) => {
+            const submission = session.submissions?.find((item) => item.command.type === proposal.command.type
+              && (proposal.command.type !== 'peripheral' || (item.command.peripheral?.id === proposal.command.peripheral?.id
+                && item.command.peripheral?.control === proposal.command.peripheral?.control)));
+            const status = proposal.reason === 'Proposed' && submission ? submission.result : proposal.reason;
+            return <div key={proposal.slot} className="surface-muted space-y-1 text-xs">
+              <div className="flex justify-between gap-2"><span>{actionNames[proposal.command.type] || proposal.command.type}{proposal.command.type === 'peripheral' ? ` · ${proposal.command.peripheral?.id} / ${proposal.command.peripheral?.control}` : ''}</span><span>{proposal.score.toFixed(2)}</span></div>
+              <div className="h-1.5 overflow-hidden rounded bg-slate-800"><div className={status === 'issued' ? 'h-full bg-emerald-400' : 'h-full bg-slate-500'} style={{ width: `${proposal.score * 100}%` }} /></div>
+              <p className={status === 'issued' ? 'text-emerald-300' : 'text-slate-400'}>{status === 'issued' ? 'Submitted' : status}</p>
+            </div>;
+          })}
+        </div>
+      </section>}
       {state?.control?.reason && <p className="text-center text-xs text-slate-400">{state.control.reason}</p>}
       {/* <p className="text-center text-xs text-slate-500">Manual controls stay available and do not stop the model.</p> */}
       <p className="text-center text-xs text-slate-400">Recording: {recording ? recording.paused ? 'paused for disk space' : `${recording.sessions.filter((item) => item.video === 'Recording human driving').length} driving · ${recording.sessions.filter((item) => item.video === 'Dock lead-in buffer').length} dock buffer(s)` : 'unavailable'} · Training: {training?.status || 'unavailable'}</p>
       {(error || state?.catalogError) && <p role="alert" className="break-words text-xs text-amber-300">{error || state.catalogError}</p>}
       <details className="surface-muted text-xs" onToggle={(event) => setDetailsOpen(event.currentTarget.open)}>
         <summary className="cursor-pointer py-1 font-semibold text-slate-200">System details</summary>
+        <div className="my-2 flex flex-wrap items-center gap-2">
+          <button type="button" className="button-dark disabled:opacity-50" disabled={!state?.diagnostics} onClick={copyDiagnostics}>Copy diagnostics</button>
+          <span role="status">{copyStatus}</span>
+        </div>
+        {copyStatus.startsWith('Clipboard unavailable') && <textarea readOnly aria-label="Diagnostics report" className="w-full" rows={4} value={JSON.stringify(state?.diagnostics || {})} onFocus={(event) => event.target.select()} />}
         <div className="mt-2 grid min-w-0 grid-cols-1 gap-2 @[36rem]:grid-cols-2">
           <Group title="Recording and storage"><dl>
             <Row label="Recording size">{bytes(recording?.bytes)}</Row>
@@ -136,6 +201,8 @@ function LearningCard({ roverId }) {
             <Row label="Status">{training?.status || 'Unavailable'}</Row>
             <Row label="Steps">{display(training?.steps)}</Row>
             <Row label="Examples processed">{display(training?.examples)}</Row>
+            <Row label="Wheel / event / accessory losses">{training?.losses ? `${training.losses.wheels.toFixed(4)} / ${training.losses.events.toFixed(4)} / ${training.losses.accessoryValues.toFixed(4)}` : 'Unavailable'}</Row>
+            <Row label="Wheel error / stopped baseline / previous speed baseline">{training?.evaluation?.wheelMaeMmPerSecond == null ? 'Unavailable' : `${training.evaluation.wheelMaeMmPerSecond.toFixed(1)} / ${training.evaluation.stoppedBaselineMaeMmPerSecond.toFixed(1)} / ${training.evaluation.previousSpeedBaselineMaeMmPerSecond.toFixed(1)} mm/s`}</Row>
             <Row label="Training loss">{training?.loss == null ? 'Unavailable' : training.loss.toFixed(4)}</Row>
             <Row label="Current job age">{training?.status === 'training' ? age(now, training.startedAt) : 'Not running'}</Row>
             <Row label="Next attempt">{time(training?.nextAttemptAt)}</Row>