diff --git a/docs/AGENT.md b/docs/AGENT.md
index 5d9b04b..34cfe9b 100644
--- a/docs/AGENT.md
+++ b/docs/AGENT.md
@@ -10,8 +10,11 @@ const session = await BridgeSwarm.agent.create({
   cwd: 'default',
   permissionMode: 'ask' // ask | allowlist | always-approve
 })
-session.on((ev) => { /* agent_message_chunk | tool_call | permission | end */ })
-await session.prompt('List the workspace and summarize')
+session.on((ev) => { /* agent_message_chunk | tool_call | permission | ask_user | plan_approval | end */ })
+await session.prompt('List the workspace and summarize', {
+  planMode: false,
+  permissionMode: 'ask',
+})
 await session.cancel()
 ```
 
@@ -21,7 +24,7 @@ Always-approve is only honored for origins listed under **Settings → Agent alw
 
 Must-have: `read_file`, `write_file`, `search_replace`, `grep`, `list_dir`, `run_terminal_cmd`, `todo_write`
 
-Also: `task` / `send_subagent_message` / `get_task_output` / `wait_tasks` / `kill_task` (subagents share the loaded model), `web_search`, `web_fetch` (opt-in), `memory_search` / `memory_get`, `enter_plan_mode` / `exit_plan_mode`, `ask_user_question`, `search_tool` / `use_tool` (MCP HTTP only; stdio requires a trusted origin and is not spawned by default)
+Also: `task` / `send_subagent_message` / `get_task_output` / `wait_tasks` / `kill_task` (subagents share the loaded model; `wait_tasks` actually waits), `web_search`, `web_fetch` (opt-in), `memory_search` / `memory_get` / `memory_write`, `enter_plan_mode` / `exit_plan_mode`, `ask_user_question`, `update_goal`, `search_tool` / `use_tool` (MCP HTTP only; stdio requires a trusted origin and is not spawned by default)
 
 Shell is cwd-jailed via `bare-subprocess` (host-internal, not a page pack). MCP HTTP tools must be public URLs (`net` policy).
 
@@ -97,10 +100,51 @@ Default cwd: `$BRIDGE_SWARM_STORAGE/agent/<origin-hash>/`. Extra absolute roots:
 
 ## Sessions
 
-JSONL under `$BRIDGE_SWARM_STORAGE/agent/sessions/`. History is compacted near 80% of the model context.
+JSONL under `$BRIDGE_SWARM_STORAGE/agent/sessions/`. History is compacted near 80% of the model context; compacted history is rewritten so a reload does not restore the uncompacted log. `plan.md`, plan-mode snapshot, and goal status live on the session summary.
 
 ## ACP-shaped events
 
-Host emits `cap-chunk` with `pack: 'agent'` and `type` in `agent_message_chunk`, `agent_thought_chunk`, `tool_call`, `tool_result`, `permission`, `ask_user`, `end`.
+Host emits `cap-chunk` with `pack: 'agent'` and `type` in `agent_message_chunk`, `agent_thought_chunk`, `tool_call`, `tool_result`, `permission`, `ask_user`, `plan_approval`, `plan_update`, `goal_update`, `end`.
+
+`end.reason` is one of `stop` | `max_turns` | `stuck` | `cancelled` | `goal_complete` | `goal_blocked`.
+
+## Plan mode
+
+`enter_plan_mode` / `session.prompt(text, { planMode: true })` switches the session to plan mode. While active:
+
+- `run_terminal_cmd` is not offered; `write_file` / `search_replace` may only edit the session `plan.md` (host session dir, streamed as `plan_update`).
+- Other writes are rejected at execute time, including page-registered `write_file` / `search_replace` / `run_terminal_cmd`.
+- The model is reminded to end the turn with `ask_user_question` or `exit_plan_mode`.
+
+`exit_plan_mode` emits `plan_approval` and **blocks** until the page calls `session.planDecision('approve' | 'reject')`. Approve injects “plan approved, implement it”; reject stays in plan mode.
+
+```js
+session.on((ev) => {
+  if (ev.type === 'plan_approval') {
+    session.planDecision('approve')
+  }
+})
+await session.prompt('Plan a README then implement it', { planMode: true })
+```
+
+## Ask the user
+
+`ask_user_question` emits `ask_user` and **waits**. Reply with `session.answer(toolCallId, choice)`.
+
+```js
+session.on((ev) => {
+  if (ev.type === 'ask_user') session.answer(ev.toolCallId, ev.options[0])
+})
+```
+
+## Goals
+
+Done is **not** the model stopping tool calls. Start a goal with `create({ goal: '…' })` or `prompt(text, { goal: '…' })`. The agent must `update_goal({ completed: true })` after todos are finished. Open todos reject that call (premature stop). A single verifier `complete` then either ends with `reason: 'goal_complete'` or injects gaps and continues. `update_goal({ blocked_reason })` ends with `goal_blocked`. Pass `{ verify: false }` to skip the verifier.
+
+If a goal is active and the model stops with open work, the loop injects a continuation instead of `end stop`.
+
+## Prompt options
+
+`session.prompt(text, { planMode, permissionMode, system, webFetch, goal, verify })` forwards those fields to the host.
 
 Models, devices, enable toggle, and `BridgeSwarm.qvac` chat (page-owned tools, no workspace shell) are documented in [QVAC.md](QVAC.md).
diff --git a/docs/API-REFERENCE.md b/docs/API-REFERENCE.md
index 41133fc..2d3d266 100644
--- a/docs/API-REFERENCE.md
+++ b/docs/API-REFERENCE.md
@@ -173,7 +173,7 @@ Full details and examples: [DATA-API.md](DATA-API.md).
 | `sqlite.open` / `close` / `list` / `exec` / `query` / `get` / `run` | db under `sqlite/` | see [CAPABILITIES.md](CAPABILITIES.md) |
 | `net.fetch` | `{ url, method?, as? }` | public http(s) only |
 | `qvac.detect` / `status` / `resources` / `catalog` / `load` / `complete` / `chat` / `embed` / … | see [QVAC.md](QVAC.md) | origin-gated; off until Settings → Enable QVAC; streams `cap-chunk` |
-| `agent.create` / `prompt` / `cancel` / `permission` / `mcpRegister` | see [AGENT.md](AGENT.md) | origin-gated; host workspace tools unless `hostWorkspace: false` |
+| `agent.create` / `prompt` / `cancel` / `permission` / `planDecision` / `answer` / `mcpRegister` | see [AGENT.md](AGENT.md) | origin-gated; host workspace tools unless `hostWorkspace: false` |
 
 ### Capability events
 
diff --git a/examples/agent-studio/README.md b/examples/agent-studio/README.md
index 82ef125..c2107d1 100644
--- a/examples/agent-studio/README.md
+++ b/examples/agent-studio/README.md
@@ -15,4 +15,4 @@ await session.addTool({
 await session.prompt('Create hello.js then call page_time')
 ```
 
-This demo registers `page_time` on every new session. Built-in workspace tools stay on (`hostWorkspace` defaults to `true`). For a page- or container-owned workspace, pass `hostWorkspace: false` and register your own `read_file` / `run_terminal_cmd` handlers — see [AGENT.md](../../docs/AGENT.md).
+This demo registers `page_time` on every new session. Permission prompts, plan Approve/Reject, and in-thread `ask_user_question` choices appear in the transcript. Built-in workspace tools stay on (`hostWorkspace` defaults to `true`). For a page- or container-owned workspace, pass `hostWorkspace: false` and register your own `read_file` / `run_terminal_cmd` handlers — see [AGENT.md](../../docs/AGENT.md). Pass `{ planMode: true }` or `{ goal: '…' }` on `prompt` for plan/act and goal completion.
diff --git a/examples/agent-studio/app.js b/examples/agent-studio/app.js
index 3ca7a5f..bdd96f3 100644
--- a/examples/agent-studio/app.js
+++ b/examples/agent-studio/app.js
@@ -68,6 +68,27 @@
             session.permit(p.jobId, p.toolCallId, false);
           },
         });
+      } else if (p.type === 'ask_user') {
+        turn.askChoice({
+          question: p.question || 'The agent has a question.',
+          options: p.options && p.options.length ? p.options : ['Continue'],
+          onPick: function (choice) {
+            session.answer(p.toolCallId, choice);
+          },
+        });
+      } else if (p.type === 'plan_approval') {
+        turn.askChoice({
+          question: 'Approve this plan and start implementing?',
+          options: ['Approve', 'Reject'],
+          onPick: function (choice) {
+            session.planDecision(choice === 'Approve' ? 'approve' : 'reject');
+          },
+        });
+        if (p.plan) transcript.addSys('Plan ready for approval', 'ok');
+      } else if (p.type === 'plan_update') {
+        transcript.addSys('plan.md updated', 'ok');
+      } else if (p.type === 'goal_update' && p.goal) {
+        transcript.addSys('Goal ' + (p.goal.status || '') + (p.goal.objective ? ': ' + String(p.goal.objective).slice(0, 72) : ''), 'turn');
       } else if (p.type === 'end') {
         turn.finish({ text: p.text, reason: p.reason || 'stop' });
         turn = null;
diff --git a/examples/agent-studio/index.html b/examples/agent-studio/index.html
index e309247..655dce8 100644
--- a/examples/agent-studio/index.html
+++ b/examples/agent-studio/index.html
@@ -18,9 +18,9 @@
     <p class="bs-brand">BridgeSwarm</p>
     <h1 class="bs-title">Agent Studio</h1>
     <p class="bs-lede">
-      Grok-class coding agent on QVAC. Thinking, tool calls, and permission prompts
-      stream in the transcript. Built-in tools can read/write the sandboxed workspace;
-      this page also registers <code>page_time</code>.
+      Grok-class coding agent on QVAC. Thinking, tool calls, permission prompts,
+      plan approval, and ask-user questions stream in the transcript. Built-in tools
+      can read/write the sandboxed workspace; this page also registers <code>page_time</code>.
     </p>
     <div id="status" class="bs-banner bs-banner--info">Starting…</div>
     <div class="bs-section">
diff --git a/examples/shared/ai-transcript.js b/examples/shared/ai-transcript.js
index 234f716..09cb962 100644
--- a/examples/shared/ai-transcript.js
+++ b/examples/shared/ai-transcript.js
@@ -272,6 +272,46 @@
           scrollIfStuck(near);
           return bar;
         },
+        askChoice: function (choiceOpts) {
+          choiceOpts = choiceOpts || {};
+          var near = stick();
+          var bar = document.createElement('div');
+          bar.className = 'ai-perm';
+          var label = document.createElement('div');
+          label.className = 'ai-perm-label';
+          label.textContent = choiceOpts.question || 'Choose:';
+          bar.appendChild(label);
+          var actions = document.createElement('div');
+          actions.className = 'ai-perm-actions';
+          var opts = Array.isArray(choiceOpts.options) && choiceOpts.options.length
+            ? choiceOpts.options
+            : ['OK'];
+          var buttons = [];
+          function finishPick(value, ok) {
+            for (var i = 0; i < buttons.length; i++) buttons[i].disabled = true;
+            bar.classList.add(ok === false ? 'ai-perm--deny' : 'ai-perm--allow');
+            if (choiceOpts.onPick) choiceOpts.onPick(value);
+          }
+          for (var i = 0; i < opts.length; i++) {
+            (function (opt, idx) {
+              var btn = document.createElement('button');
+              var labelText = typeof opt === 'string' ? opt : (opt.label || opt.id || String(opt));
+              var value = typeof opt === 'string' ? opt : (opt.value != null ? opt.value : opt.id || labelText);
+              btn.className = idx === 0 ? 'primary' : '';
+              btn.textContent = labelText;
+              btn.onclick = function () {
+                var deny = /reject|deny|no/i.test(String(labelText));
+                finishPick(value, !deny);
+              };
+              buttons.push(btn);
+              actions.appendChild(btn);
+            })(opts[i], i);
+          }
+          bar.appendChild(actions);
+          wrap.appendChild(bar);
+          scrollIfStuck(near);
+          return bar;
+        },
         finish: function (info) {
           info = info || {};
           if (finished) return;
diff --git a/extension/api.js b/extension/api.js
index c530786..3c2f640 100644
--- a/extension/api.js
+++ b/extension/api.js
@@ -1326,7 +1326,14 @@
       model: r.model,
       prompt: function (text, opts) {
         opts = opts || {};
-        return capabilityCall('agent', 'prompt', { sessionId: sessionId, text: text }, Object.assign({ timeoutMs: 0 }, opts));
+        const payload = { sessionId: sessionId, text: text };
+        if (opts.planMode != null) payload.planMode = opts.planMode;
+        if (opts.permissionMode) payload.permissionMode = opts.permissionMode;
+        if (opts.system) payload.system = opts.system;
+        if (opts.webFetch != null) payload.webFetch = opts.webFetch;
+        if (opts.goal != null) payload.goal = opts.goal;
+        if (opts.verify != null) payload.verify = opts.verify;
+        return capabilityCall('agent', 'prompt', payload, Object.assign({ timeoutMs: 0 }, opts));
       },
       cancel: function () {
         return capabilityCall('agent', 'cancel', { sessionId: sessionId });
@@ -1346,6 +1353,19 @@
           decision: allow ? 'allow' : 'deny',
         });
       },
+      planDecision: function (decision) {
+        return capabilityCall('agent', 'planDecision', {
+          sessionId: sessionId,
+          decision: decision === 'approve' || decision === true ? 'approve' : 'reject',
+        });
+      },
+      answer: function (toolCallId, choice) {
+        return capabilityCall('agent', 'answer', {
+          sessionId: sessionId,
+          toolCallId: toolCallId,
+          choice: choice,
+        });
+      },
       addTool: function (def) {
         remember(def);
         return capabilityCall('agent', 'registerTools', {
diff --git a/native-host/agent/goal.js b/native-host/agent/goal.js
new file mode 100644
index 0000000..ffe6b35
--- /dev/null
+++ b/native-host/agent/goal.js
@@ -0,0 +1,110 @@
+/**
+ * Session goal tracker + verifier prompt. No Bare imports.
+ *
+ * Done is update_goal({ completed: true }) passing a single-call verifier,
+ * not the model merely stopping tool use.
+ */
+
+const STATUSES = ['idle', 'planning', 'executing', 'verifying', 'complete', 'blocked'];
+const MAX_VERIFIER_RUNS = 5;
+
+function create(objective, opts) {
+  opts = opts || {};
+  const text = String(objective || '').trim();
+  return {
+    objective: text,
+    criteria: Array.isArray(opts.criteria) ? opts.criteria.map(String) : [],
+    status: text ? 'executing' : 'idle',
+    gaps: [],
+    notes: '',
+    verifierRuns: 0,
+    verify: opts.verify !== false,
+    blockedReason: '',
+  };
+}
+
+function isActive(g) {
+  return !!(g && (g.status === 'planning' || g.status === 'executing' || g.status === 'verifying'));
+}
+
+function plannerAddendum(g) {
+  if (!g || !g.objective) return '';
+  const criteria = (g.criteria || []).length
+    ? '\nAcceptance criteria:\n' + g.criteria.map((c, i) => (i + 1) + '. ' + c).join('\n')
+    : '';
+  return (
+    'Active goal: ' +
+    g.objective +
+    criteria +
+    '\nComplete all todos, then call update_goal({ completed: true }).' +
+    '\nDo not stop with open todos. If blocked, call update_goal({ blocked_reason: "..." }).'
+  );
+}
+
+function continuation(g) {
+  const gaps = g && g.gaps && g.gaps.length ? '\nGaps: ' + g.gaps.join('; ') : '';
+  return (
+    'Goal NOT complete — continue. Objective: ' +
+    ((g && g.objective) || '') +
+    gaps +
+    '\nDo not stop until you call update_goal({ completed: true }) or update_goal({ blocked_reason: "..." }).'
+  );
+}
+
+function verifierPrompt(g, evidence) {
+  const prior = (g && g.gaps && g.gaps.length ? g.gaps.join('\n- ') : '(none)');
+  return (
+    'You are an adversarial verifier. You are NOT the agent that produced the work. ' +
+    'Your job is to refute that the objective has been met. Default to achieved: false if uncertain.\n\n' +
+    'OBJECTIVE:\n' +
+    ((g && g.objective) || '') +
+    '\n\nEVIDENCE:\n' +
+    String(evidence || '(none)') +
+    '\n\nPRIOR_GAPS:\n- ' +
+    prior +
+    '\n\nReply with JSON only: {"achieved": true|false, "gaps": ["..."]}'
+  );
+}
+
+function parseVerifier(text) {
+  const raw = String(text || '');
+  const m = raw.match(/\{[\s\S]*\}/);
+  if (!m) {
+    const yes = /not refuted|achieved["']?\s*:\s*true/i.test(raw);
+    const no = /refuted|not achieved|achieved["']?\s*:\s*false/i.test(raw);
+    return { achieved: yes && !no, gaps: no ? ['verifier response was not JSON'] : [] };
+  }
+  try {
+    const j = JSON.parse(m[0]);
+    const gaps = Array.isArray(j.gaps) ? j.gaps.map(String) : [];
+    return { achieved: !!j.achieved, gaps };
+  } catch (_) {
+    return { achieved: false, gaps: ['verifier response was not JSON'] };
+  }
+}
+
+function snapshot(g) {
+  if (!g) return null;
+  return {
+    objective: g.objective,
+    criteria: g.criteria || [],
+    status: g.status,
+    gaps: g.gaps || [],
+    notes: g.notes || '',
+    verifierRuns: g.verifierRuns || 0,
+    verify: g.verify !== false,
+    blockedReason: g.blockedReason || '',
+  };
+}
+
+module.exports = {
+  STATUSES,
+  MAX_VERIFIER_RUNS,
+  create,
+  isActive,
+  plannerAddendum,
+  continuation,
+  verifierPrompt,
+  parseVerifier,
+  snapshot,
+};
diff --git a/native-host/agent/loop.js b/native-host/agent/loop.js
index 8d0678a..f83124c 100644
--- a/native-host/agent/loop.js
+++ b/native-host/agent/loop.js
@@ -12,6 +12,10 @@ const compaction = require('./compaction.js');
 const tasks = require('./tasks.js');
 const customTools = require('./custom-tools.js');
 const toolSet = require('./tool-set.js');
+const planMode = require('./plan-mode.js');
+const todos = require('./todos.js');
+const stationarity = require('./stationarity.js');
+const goalMod = require('./goal.js');
 const path = require('bare-path');
 const fs = require('bare-fs');
 
@@ -20,8 +24,14 @@ customTools.setReserved(toolSet.ALWAYS_RESERVED.concat(toolSet.ALWAYS_BUILTIN_RE
 const live = new Map();
 const pendingPerms = new Map();
 const pendingCustom = new Map();
+const pendingAsks = new Map();
+const pendingPlans = new Map();
 const MAX_TURNS = 24;
+const SUBAGENT_TURNS = 8;
 const CUSTOM_TOOL_TIMEOUT_MS = 60000;
+const ASK_TIMEOUT_MS = 10 * 60 * 1000;
+const PLAN_TIMEOUT_MS = 10 * 60 * 1000;
+const MAX_GOAL_NUDGES = 8;
 
 function fsRead(cwd, rel) {
   return fs.readFileSync(path.join(cwd, rel), 'utf8');
@@ -38,6 +48,43 @@ function emitUpdate(emit, sessionId, jobId, update) {
   emit('cap-chunk', Object.assign({ pack: 'agent', sessionId, jobId, kind: 'session_update' }, update));
 }
 
+function persistSession(session, tracker) {
+  if (tracker) session.planMode = planMode.snapshot(tracker);
+  if (session.goal) session.goal = goalMod.snapshot(session.goal);
+  sessions.saveSummary(session);
+}
+
+async function waitKeyed(map, key, timeoutMs, timeoutValue) {
+  const existing = map.get(key);
+  if (existing && existing.ready) {
+    map.delete(key);
+    return existing.ready;
+  }
+  return new Promise((resolve) => {
+    const timer = setTimeout(() => {
+      map.delete(key);
+      resolve(timeoutValue);
+    }, timeoutMs);
+    map.set(key, {
+      resolve(payload) {
+        clearTimeout(timer);
+        resolve(payload);
+      },
+    });
+  });
+}
+
+function resolveKeyed(map, key, payload) {
+  const rec = map.get(key);
+  if (rec && typeof rec.resolve === 'function') {
+    map.delete(key);
+    rec.resolve(payload);
+    return true;
+  }
+  map.set(key, { ready: payload });
+  return true;
+}
+
 async function waitPermission(jobId, payload) {
   return new Promise((resolve) => {
     pendingPerms.set(jobId + ':' + payload.toolCallId, resolve);
@@ -75,16 +122,155 @@ function waitCustomResult(jobId, toolCallId) {
 }
 
 function resolveCustomResult(jobId, toolCallId, payload) {
-  const key = jobId + ':' + toolCallId;
-  const rec = pendingCustom.get(key);
-  const body = payload || {};
-  if (rec && typeof rec.resolve === 'function') {
-    pendingCustom.delete(key);
-    rec.resolve(body);
-    return true;
+  return resolveKeyed(pendingCustom, jobId + ':' + toolCallId, payload || {});
+}
+
+function waitAsk(jobId, toolCallId) {
+  return waitKeyed(pendingAsks, jobId + ':' + toolCallId, ASK_TIMEOUT_MS, { error: 'ask_user timed out' });
+}
+
+function resolveAsk(jobId, toolCallId, choice) {
+  const payload = { choice };
+  if (jobId) {
+    const key = jobId + ':' + toolCallId;
+    if (pendingAsks.has(key)) return resolveKeyed(pendingAsks, key, payload);
+  }
+  const keys = Array.from(pendingAsks.keys());
+  for (const key of keys) {
+    if (key === toolCallId || key.endsWith(':' + toolCallId)) return resolveKeyed(pendingAsks, key, payload);
+  }
+  return resolveKeyed(pendingAsks, (jobId || '') + ':' + toolCallId, payload);
+}
+
+function waitPlanDecision(sessionId) {
+  return waitKeyed(pendingPlans, sessionId, PLAN_TIMEOUT_MS, { decision: 'timeout' });
+}
+
+function resolvePlanDecision(sessionId, decision) {
+  return resolveKeyed(pendingPlans, sessionId, { decision: decision === 'approve' ? 'approve' : 'reject' });
+}
+
+function buildToolDefs(session, payload, tracker) {
+  const hostWorkspace = session.hostWorkspace !== false;
+  return tools
+    .defs({
+      planMode: planMode.isActive(tracker),
+      webFetch: payload && payload.webFetch,
+      hostWorkspace,
+      builtinTools: session.builtinTools,
+    })
+    .concat(customTools.defs(session.id));
+}
+
+function refreshSystem(session, sys) {
+  if (!session.history) session.history = [];
+  if (session.history.length && session.history[0].role === 'system') {
+    session.history[0] = { role: 'system', content: sys };
+  } else {
+    session.history.unshift({ role: 'system', content: sys });
+  }
+}
+
+function pushHistory(session, msg) {
+  session.history.push(msg);
+  if (msg.role !== 'system') sessions.appendHistory(session.id, msg);
+}
+
+function applyPlanWrite(session, name, args) {
+  let text = sessions.readPlan(session.id) || '';
+  if (name === 'write_file') {
+    text = args.contents != null ? String(args.contents) : args.content != null ? String(args.content) : '';
+  } else {
+    const old = args.old_string || args.oldString || '';
+    const neu = args.new_string != null ? args.new_string : args.newString;
+    if (neu == null) throw new Error('new_string required');
+    if (!old) text = String(neu);
+    else {
+      if (!text.includes(old)) throw new Error('old_string not found');
+      text = text.replace(old, neu);
+    }
+  }
+  const file = sessions.writePlan(session.id, text);
+  if (session.hostWorkspace !== false && session.cwd) {
+    try {
+      const abs = path.join(session.cwd, 'plan.md');
+      fs.writeFileSync(abs, text);
+    } catch (_) {}
+  }
+  return { ok: true, path: file, bytes: text.length };
+}
+
+function sidecarMessages(session, tracker) {
+  const extra = [];
+  if (planMode.isActive(tracker)) {
+    extra.push({
+      role: 'user',
+      content:
+        '<system-reminder>\n' +
+        planMode.reminder(tracker, { hasContent: !!(sessions.readPlan(session.id) || '').trim() }) +
+        '\n</system-reminder>',
+    });
+  } else if (tracker && tracker.pendingExitReminder) {
+    extra.push({ role: 'user', content: '<system-reminder>\n' + planMode.exitReminder() + '\n</system-reminder>' });
+    tracker.pendingExitReminder = false;
+  }
+  if (session.plan && session.plan.length) {
+    extra.push({ role: 'user', content: todos.formatBlock(session.plan) });
+  }
+  return extra;
+}
+
+function endTurn(emit, session, jobId, tracker, extra) {
+  persistSession(session, tracker);
+  const payload = Object.assign({ type: 'end', reason: 'stop' }, extra || {});
+  emitUpdate(emit, session.id, jobId, payload);
+  return {
+    ok: payload.reason !== 'cancelled',
+    text: payload.text || '',
+    turns: payload.turns,
+    reason: payload.reason,
+  };
+}
+
+async function verifyGoal(session, tracker, lastText) {
+  const g = session.goal;
+  if (!g || g.verify === false) {
+    g.status = 'complete';
+    return { achieved: true, gaps: [] };
+  }
+  if ((g.verifierRuns || 0) >= goalMod.MAX_VERIFIER_RUNS) {
+    return { achieved: false, gaps: ['verification budget exhausted'] };
+  }
+  g.status = 'verifying';
+  g.verifierRuns = (g.verifierRuns || 0) + 1;
+  const evidence = [
+    lastText || '',
+    todos.formatBlock(session.plan),
+    (sessions.readPlan(session.id) || '').slice(0, 8000),
+    g.notes || '',
+  ]
+    .filter(Boolean)
+    .join('\n\n');
+  try {
+    const result = await engine.complete({
+      history: [
+        { role: 'system', content: 'Reply with JSON only.' },
+        { role: 'user', content: goalMod.verifierPrompt(g, evidence) },
+      ],
+      tools: [],
+    });
+    const verdict = goalMod.parseVerifier(result && result.text);
+    g.gaps = verdict.gaps || [];
+    if (verdict.achieved) g.status = 'complete';
+    else g.status = 'executing';
+    persistSession(session, tracker);
+    return verdict;
+  } catch (err) {
+    g.status = 'executing';
+    g.gaps = ['verifier failed: ' + err.message];
+    persistSession(session, tracker);
+    return { achieved: false, gaps: g.gaps };
   }
-  pendingCustom.set(key, { ready: body });
-  return true;
 }
 
 async function runTurn(ctx) {
@@ -93,20 +279,31 @@ async function runTurn(ctx) {
   const hostWorkspace = session.hostWorkspace !== false;
   const cwd = hostWorkspace ? session.cwd || sandbox.defaultCwd(origin) : session.cwd || 'page';
   const mode = sandbox.permissionMode(payload);
-  const toolDefs = tools
-    .defs({
-      planMode: ctx.planMode,
-      webFetch: payload && payload.webFetch,
-      hostWorkspace,
-      builtinTools: session.builtinTools,
-    })
-    .concat(customTools.defs(session.id));
+  const tracker = planMode.create(session.planMode);
+  if (payload && (payload.planMode === true || payload.planMode === 'active' || payload.planMode === 'plan')) {
+    if (tracker.state === 'inactive') {
+      planMode.enterPending(tracker);
+      planMode.activate(tracker);
+    }
+  }
+  ctx.planTracker = tracker;
+  ctx.planMode = planMode.isActive(tracker);
+
+  if (payload && payload.goal) {
+    session.goal = goalMod.create(payload.goal, { verify: payload.verify !== false });
+  }
+  if (payload && payload.verify === false && session.goal) session.goal.verify = false;
+
   await ensureModel(session.model);
 
+  let extraSys = payload && payload.system;
+  if (session.goal && goalMod.isActive(session.goal)) {
+    extraSys = [extraSys, goalMod.plannerAddendum(session.goal)].filter(Boolean).join('\n\n');
+  }
   const sys = prompts.assemble({
     cwd: hostWorkspace ? cwd : session.workspace || cwd,
     hostWorkspace,
-    extra: payload && payload.system,
+    extra: extraSys,
     fsRead: hostWorkspace
       ? (c, r) => {
           try {
@@ -117,118 +314,254 @@ async function runTurn(ctx) {
         }
       : null,
   });
-
-  if (!session.history || !session.history.length) {
-    session.history = [{ role: 'system', content: sys }];
-  }
+  refreshSystem(session, sys);
   if (userText) {
-    session.history.push({ role: 'user', content: userText });
-    sessions.appendHistory(session.id, { role: 'user', content: userText });
+    pushHistory(session, { role: 'user', content: userText });
+  }
+  persistSession(session, tracker);
+  if (session.goal) {
+    emitUpdate(emit, session.id, jobId, { type: 'goal_update', goal: goalMod.snapshot(session.goal) });
   }
 
   const cancelled = () => live.get(session.id) && live.get(session.id).cancelled;
+  const stuck = stationarity.create();
+  let lastText = '';
+  let goalNudges = 0;
 
-  for (let turn = 0; turn < MAX_TURNS; turn++) {
-    if (cancelled()) throw new Error('cancelled');
-    session.history = compaction.compact(session.history, {
-      budgetTokens: Math.floor(((engine.getLoaded().ctxSize || 8192) * 0.8)),
-      tools: toolDefs,
-    });
-
-    emitUpdate(emit, session.id, jobId, { type: 'turn', turn });
-    const result = await engine.complete(
-      {
-        history: session.history,
+  try {
+    for (let turn = 0; turn < MAX_TURNS; turn++) {
+      if (cancelled()) return endTurn(emit, session, jobId, tracker, { reason: 'cancelled', turns: turn });
+      const toolDefs = buildToolDefs(session, payload, tracker);
+      ctx.planMode = planMode.isActive(tracker);
+      const beforeLen = session.history.length;
+      session.history = compaction.compact(session.history, {
+        budgetTokens: Math.floor((engine.getLoaded().ctxSize || 8192) * 0.8),
         tools: toolDefs,
-        toolDialect: catalog.toolDialectFor(session.model),
-      },
-      (ev) => {
-        if (ev.type === 'contentDelta') {
-          emitUpdate(emit, session.id, jobId, { type: 'agent_message_chunk', text: ev.delta });
-        } else if (ev.type === 'thinkingDelta') {
-          emitUpdate(emit, session.id, jobId, { type: 'agent_thought_chunk', text: ev.delta });
-        } else if (ev.type === 'toolCall') {
-          emitUpdate(emit, session.id, jobId, { type: 'tool_call', call: ev.call });
-        }
+      });
+      if (session.history.length !== beforeLen) {
+        sessions.replaceHistory(session.id, session.history);
       }
-    );
 
-    if (result.text) {
-      session.history.push({ role: 'assistant', content: result.text });
-      sessions.appendHistory(session.id, { role: 'assistant', content: result.text });
-    }
-
-    const calls = result.toolCalls || [];
-    if (!calls.length) {
-      emitUpdate(emit, session.id, jobId, { type: 'end', reason: 'stop', text: result.text || '' });
-      sessions.saveSummary(session);
-      return { ok: true, text: result.text || '', turns: turn + 1 };
-    }
-
-    for (const call of calls) {
-      if (cancelled()) throw new Error('cancelled');
-      const name = call.name;
-      const args = typeof call.arguments === 'string' ? safeJson(call.arguments) : call.arguments || {};
-      const toolCallId = call.id || name + '_' + Date.now();
-      if (sandbox.needsPermission(name, mode)) {
-        emitUpdate(emit, session.id, jobId, {
-          type: 'permission',
-          toolCallId,
-          tool: name,
-          args,
-        });
-        if (mode !== 'always-approve') {
-          const decision = await waitPermission(jobId, { toolCallId });
-          if (decision !== 'allow') {
-            const denied = 'permission denied for ' + name;
-            session.history.push({ role: 'tool', name, content: denied, tool_call_id: toolCallId });
-            sessions.appendHistory(session.id, { role: 'tool', name, content: denied });
-            emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: denied });
-            continue;
+      emitUpdate(emit, session.id, jobId, { type: 'turn', turn });
+      const history = session.history.concat(sidecarMessages(session, tracker));
+      const result = await engine.complete(
+        {
+          history,
+          tools: toolDefs,
+          toolDialect: catalog.toolDialectFor(session.model),
+        },
+        (ev) => {
+          if (ev.type === 'contentDelta') {
+            emitUpdate(emit, session.id, jobId, { type: 'agent_message_chunk', text: ev.delta });
+          } else if (ev.type === 'thinkingDelta') {
+            emitUpdate(emit, session.id, jobId, { type: 'agent_thought_chunk', text: ev.delta });
+          } else if (ev.type === 'toolCall') {
+            emitUpdate(emit, session.id, jobId, { type: 'tool_call', call: ev.call });
           }
         }
+      );
+
+      if (result.text) {
+        lastText = result.text;
+        pushHistory(session, { role: 'assistant', content: result.text });
       }
-      let out;
-      try {
-        if (customTools.has(session.id, name)) {
+
+      const calls = result.toolCalls || [];
+      if (!calls.length) {
+        const goalActive = goalMod.isActive(session.goal);
+        if (goalActive && goalNudges < MAX_GOAL_NUDGES) {
+          goalNudges += 1;
+          pushHistory(session, { role: 'user', content: goalMod.continuation(session.goal) });
+          continue;
+        }
+        return endTurn(emit, session, jobId, tracker, {
+          type: 'end',
+          reason: 'stop',
+          text: result.text || lastText || '',
+          turns: turn + 1,
+        });
+      }
+
+      let stuckNow = false;
+      for (const call of calls) {
+        if (cancelled()) return endTurn(emit, session, jobId, tracker, { reason: 'cancelled', turns: turn + 1 });
+        const name = call.name;
+        const args = typeof call.arguments === 'string' ? safeJson(call.arguments) : call.arguments || {};
+        const toolCallId = call.id || name + '_' + Date.now();
+        stationarity.observe(stuck, name, args);
+        if (stationarity.shouldStop(stuck)) {
+          stuckNow = true;
+          const msg = 'Repeating the same tool call; stopping.';
+          pushHistory(session, { role: 'tool', name, content: msg, tool_call_id: toolCallId });
+          emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: msg });
+          break;
+        }
+
+        const gateErr = planMode.gateWrite(tracker, name, args);
+        if (gateErr) {
+          pushHistory(session, { role: 'tool', name, content: gateErr, tool_call_id: toolCallId });
+          emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: gateErr });
+          continue;
+        }
+
+        if (sandbox.needsPermission(name, mode) && !planMode.isPlanFilePath(args.path, tracker.planPath)) {
           emitUpdate(emit, session.id, jobId, {
-            type: 'tool_request',
+            type: 'permission',
             toolCallId,
-            name,
+            tool: name,
             args,
           });
-          const answered = await waitCustomResult(jobId, toolCallId);
-          if (answered && answered.error) throw new Error(answered.error);
-          out = answered && answered.result != null ? answered.result : answered;
-        } else if (name === 'task') {
-          out = await runSubagent(ctx, args);
-        } else if (name === 'send_subagent_message') {
-          const rec = tasks.appendMessage(args.task_id || args.taskId, args.message);
-          out = await continueSubagent(ctx, rec, args.message);
-        } else {
-          out = await tools.execute(
-            { origin, cwd, session, planMode: ctx.planMode, hostWorkspace },
-            name,
-            args
-          );
-          if (out && out.planMode === true) ctx.planMode = true;
-          if (out && out.planMode === false) ctx.planMode = false;
-          if (out && out.type === 'ask_user') {
-            emitUpdate(emit, session.id, jobId, { type: 'ask_user', question: out.question, options: out.options });
+          if (mode !== 'always-approve') {
+            const decision = await waitPermission(jobId, { toolCallId });
+            if (decision !== 'allow') {
+              const denied = 'permission denied for ' + name;
+              pushHistory(session, { role: 'tool', name, content: denied, tool_call_id: toolCallId });
+              emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: denied });
+              continue;
+            }
           }
         }
-      } catch (err) {
-        out = { error: err.message };
+
+        let out;
+        try {
+          if (
+            planMode.isActive(tracker) &&
+            (name === 'write_file' || name === 'search_replace') &&
+            planMode.isPlanFilePath(args.path || args.file, tracker.planPath)
+          ) {
+            out = applyPlanWrite(session, name, args);
+            emitUpdate(emit, session.id, jobId, {
+              type: 'plan_update',
+              path: tracker.planPath,
+              text: sessions.readPlan(session.id),
+            });
+          } else if (customTools.has(session.id, name)) {
+            emitUpdate(emit, session.id, jobId, {
+              type: 'tool_request',
+              toolCallId,
+              name,
+              args,
+            });
+            const answered = await waitCustomResult(jobId, toolCallId);
+            if (answered && answered.error) throw new Error(answered.error);
+            out = answered && answered.result != null ? answered.result : answered;
+          } else if (name === 'task') {
+            out = await runSubagent(ctx, args);
+          } else if (name === 'send_subagent_message') {
+            const rec = tasks.appendMessage(args.task_id || args.taskId, args.message);
+            out = await continueSubagent(ctx, rec, args.message);
+          } else {
+            out = await tools.execute(
+              {
+                origin,
+                cwd,
+                session,
+                planMode: planMode.isActive(tracker),
+                planTracker: tracker,
+                hostWorkspace,
+              },
+              name,
+              args
+            );
+            if (out && out.type === 'enter_plan_mode') {
+              persistSession(session, tracker);
+            }
+            if (out && out.type === 'exit_plan_mode') {
+              planMode.requestExit(tracker);
+              persistSession(session, tracker);
+              emitUpdate(emit, session.id, jobId, {
+                type: 'plan_approval',
+                toolCallId,
+                plan: sessions.readPlan(session.id),
+              });
+              const ans = await waitPlanDecision(session.id);
+              if (cancelled()) return endTurn(emit, session, jobId, tracker, { reason: 'cancelled', turns: turn + 1 });
+              if (ans && ans.decision === 'approve') {
+                planMode.approveExit(tracker);
+                tracker.pendingExitReminder = true;
+                persistSession(session, tracker);
+                out = { planMode: false, approved: true, message: planMode.exitReminder() };
+              } else {
+                planMode.rejectExit(tracker);
+                persistSession(session, tracker);
+                out = {
+                  planMode: true,
+                  approved: false,
+                  message: 'Plan rejected. Stay in plan mode and revise plan.md.',
+                };
+              }
+            }
+            if (out && out.type === 'ask_user') {
+              emitUpdate(emit, session.id, jobId, {
+                type: 'ask_user',
+                toolCallId,
+                question: out.question,
+                options: out.options,
+              });
+              const ans = await waitAsk(jobId, toolCallId);
+              if (cancelled()) return endTurn(emit, session, jobId, tracker, { reason: 'cancelled', turns: turn + 1 });
+              if (ans && ans.error) out = { error: ans.error };
+              else out = { type: 'ask_user', question: out.question, choice: ans && ans.choice };
+            }
+            if (out && out.type === 'goal_blocked') {
+              session.goal.status = 'blocked';
+              emitUpdate(emit, session.id, jobId, { type: 'goal_update', goal: goalMod.snapshot(session.goal) });
+              const rendered = JSON.stringify(out).slice(0, 12000);
+              pushHistory(session, { role: 'tool', name, content: rendered, tool_call_id: toolCallId });
+              emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: rendered.slice(0, 4000) });
+              return endTurn(emit, session, jobId, tracker, {
+                reason: 'goal_blocked',
+                text: out.blocked_reason || lastText,
+                turns: turn + 1,
+              });
+            }
+            if (out && out.type === 'goal_completed') {
+              emitUpdate(emit, session.id, jobId, { type: 'goal_update', goal: goalMod.snapshot(session.goal) });
+              const skipVerify = payload && payload.verify === false;
+              const verdict = skipVerify ? { achieved: true, gaps: [] } : await verifyGoal(session, tracker, lastText);
+              if (verdict.achieved) {
+                const rendered = JSON.stringify({ ok: true, achieved: true }).slice(0, 12000);
+                pushHistory(session, { role: 'tool', name, content: rendered, tool_call_id: toolCallId });
+                emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: rendered });
+                emitUpdate(emit, session.id, jobId, { type: 'goal_update', goal: goalMod.snapshot(session.goal) });
+                return endTurn(emit, session, jobId, tracker, {
+                  reason: 'goal_complete',
+                  text: lastText,
+                  turns: turn + 1,
+                });
+              }
+              out = {
+                ok: false,
+                achieved: false,
+                gaps: verdict.gaps,
+                message: 'Verifier rejected completion. Fix the gaps and continue.',
+              };
+              emitUpdate(emit, session.id, jobId, { type: 'goal_update', goal: goalMod.snapshot(session.goal) });
+            }
+          }
+        } catch (err) {
+          out = { error: err.message };
+        }
+        const rendered = typeof out === 'string' ? out : JSON.stringify(out).slice(0, 12000);
+        pushHistory(session, { role: 'tool', name, content: rendered, tool_call_id: toolCallId });
+        emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: rendered.slice(0, 4000) });
+      }
+
+      if (stuckNow) {
+        return endTurn(emit, session, jobId, tracker, { reason: 'stuck', text: lastText, turns: turn + 1 });
+      }
+      if (stationarity.shouldNudge(stuck)) {
+        stationarity.markNudged(stuck);
+        pushHistory(session, { role: 'user', content: stationarity.nudgeText() });
       }
-      const rendered = typeof out === 'string' ? out : JSON.stringify(out).slice(0, 12000);
-      session.history.push({ role: 'tool', name, content: rendered, tool_call_id: toolCallId });
-      sessions.appendHistory(session.id, { role: 'tool', name, content: rendered });
-      emitUpdate(emit, session.id, jobId, { type: 'tool_result', toolCallId, name, result: rendered.slice(0, 4000) });
     }
+    return endTurn(emit, session, jobId, tracker, { reason: 'max_turns', text: lastText, turns: MAX_TURNS });
+  } catch (err) {
+    if (err && err.message === 'cancelled') {
+      return endTurn(emit, session, jobId, tracker, { reason: 'cancelled', text: lastText });
+    }
+    throw err;
   }
-  emitUpdate(emit, session.id, jobId, { type: 'end', reason: 'max_turns' });
-  sessions.saveSummary(session);
-  return { ok: true, text: '', turns: MAX_TURNS, reason: 'max_turns' };
 }
 
 async function runSubagent(parentCtx, args) {
@@ -236,10 +569,9 @@ async function runSubagent(parentCtx, args) {
   const label = args.label || 'subagent';
   const taskId = tasks.create(label);
   const hostWorkspace = parentCtx.session.hostWorkspace !== false;
+  const allowed = new Set(['read_file', 'grep', 'list_dir', 'memory_search', 'memory_get']);
   const toolDefs = hostWorkspace
-    ? tools.defs({ planMode: true, webFetch: false, hostWorkspace: true }).filter((t) =>
-        ['read_file', 'grep', 'list_dir', 'memory_search'].includes(t.name)
-      )
+    ? tools.defs({ webFetch: false, hostWorkspace: true }).filter((t) => allowed.has(t.name))
     : [];
   await ensureModel(parentCtx.session.model);
   const history = [
@@ -252,32 +584,43 @@ async function runSubagent(parentCtx, args) {
     { role: 'user', content: prompt },
   ];
   try {
-    const result = await engine.complete({ history, tools: toolDefs });
-    const calls = result.toolCalls || [];
-    let extra = '';
-    for (const call of calls.slice(0, 6)) {
-      try {
-        const out = await tools.execute(
-          {
-            origin: parentCtx.session.origin,
-            cwd: parentCtx.session.cwd,
-            session: parentCtx.session,
-            hostWorkspace: parentCtx.session.hostWorkspace !== false,
-          },
-          call.name,
-          typeof call.arguments === 'string' ? safeJson(call.arguments) : call.arguments || {}
-        );
-        extra += '\n[' + call.name + '] ' + (typeof out === 'string' ? out : JSON.stringify(out)).slice(0, 2000);
-      } catch (err) {
-        extra += '\n[' + call.name + ' error] ' + err.message;
+    let summary = '';
+    for (let turn = 0; turn < SUBAGENT_TURNS; turn++) {
+      if (parentCtx.session && live.get(parentCtx.session.id) && live.get(parentCtx.session.id).cancelled) {
+        throw new Error('cancelled');
       }
-    }
-    let summary = result.text || extra;
-    if (extra) {
-      history.push({ role: 'assistant', content: result.text || '' });
-      history.push({ role: 'user', content: 'Tool results:\n' + extra + '\nSummarize for the parent agent.' });
-      const second = await engine.complete({ history });
-      summary = second.text || result.text || extra.slice(0, 4000);
+      const result = await engine.complete({ history, tools: toolDefs });
+      if (result.text) history.push({ role: 'assistant', content: result.text });
+      const calls = result.toolCalls || [];
+      if (!calls.length) {
+        summary = result.text || summary;
+        break;
+      }
+      let extra = '';
+      for (const call of calls) {
+        try {
+          const out = await tools.execute(
+            {
+              origin: parentCtx.session.origin,
+              cwd: parentCtx.session.cwd,
+              session: parentCtx.session,
+              hostWorkspace: parentCtx.session.hostWorkspace !== false,
+            },
+            call.name,
+            typeof call.arguments === 'string' ? safeJson(call.arguments) : call.arguments || {}
+          );
+          extra = typeof out === 'string' ? out : JSON.stringify(out);
+        } catch (err) {
+          extra = 'error: ' + err.message;
+        }
+        history.push({
+          role: 'tool',
+          name: call.name,
+          content: String(extra).slice(0, 8000),
+          tool_call_id: call.id,
+        });
+      }
+      summary = result.text || extra;
     }
     tasks.finish(taskId, summary);
     return { taskId, label, summary };
@@ -313,16 +656,37 @@ function markLive(sessionId) {
   return rec;
 }
 
+function flushPending(map, payload) {
+  const keys = Array.from(map.keys());
+  for (const key of keys) {
+    const rec = map.get(key);
+    map.delete(key);
+    if (rec && typeof rec.resolve === 'function') rec.resolve(payload);
+  }
+}
+
 function cancel(sessionId) {
   const rec = live.get(sessionId);
   if (rec) rec.cancelled = true;
   engine.cancel().catch(() => {});
-  const keys = Array.from(pendingCustom.keys());
-  for (const key of keys) {
-    const rec2 = pendingCustom.get(key);
-    pendingCustom.delete(key);
-    if (rec2 && typeof rec2.resolve === 'function') rec2.resolve({ error: 'cancelled' });
+  flushPending(pendingCustom, { error: 'cancelled' });
+  flushPending(pendingAsks, { error: 'cancelled' });
+  flushPending(pendingPlans, { decision: 'reject' });
+  const permKeys = Array.from(pendingPerms.keys());
+  for (const key of permKeys) {
+    const fn = pendingPerms.get(key);
+    pendingPerms.delete(key);
+    if (typeof fn === 'function') fn('deny');
   }
 }
 
-module.exports = { runTurn, resolvePermission, resolveCustomResult, markLive, cancel };
+module.exports = {
+  runTurn,
+  resolvePermission,
+  resolveCustomResult,
+  resolveAsk,
+  resolvePlanDecision,
+  markLive,
+  cancel,
+  MAX_TURNS,
+};
diff --git a/native-host/agent/plan-mode.js b/native-host/agent/plan-mode.js
new file mode 100644
index 0000000..8e27564
--- /dev/null
+++ b/native-host/agent/plan-mode.js
@@ -0,0 +1,176 @@
+/**
+ * Plan-mode state machine (Grok-shaped). No Bare imports — unit-testable on Node.
+ *
+ * States: inactive | pending | active | exitPending
+ * While active, write/shell tools are blocked except the session plan file.
+ */
+
+const STATES = ['inactive', 'pending', 'active', 'exitPending'];
+const WRITE_TOOLS = ['write_file', 'search_replace', 'run_terminal_cmd'];
+const PLAN_FILE_NAMES = ['plan.md'];
+
+function create(snapshot) {
+  const s = snapshot && typeof snapshot === 'object' ? snapshot : {};
+  let state = String(s.state || 'inactive');
+  if (STATES.indexOf(state) < 0) state = 'inactive';
+  if (state === 'pending') state = 'inactive';
+  if (state === 'exitPending') state = s.awaitingApproval ? 'active' : 'inactive';
+  return {
+    state,
+    reminderCount: Number(s.reminderCount) || 0,
+    planPath: String(s.planPath || 'plan.md'),
+    awaitingApproval: !!s.awaitingApproval,
+    wasActive: !!s.wasActive,
+    pendingExitReminder: !!s.pendingExitReminder,
+  };
+}
+
+function isActive(pm) {
+  if (!pm) return false;
+  if (pm === true) return true;
+  return pm.state === 'active' || pm.state === 'exitPending';
+}
+
+function enterPending(pm) {
+  if (!pm) return false;
+  if (pm.state === 'inactive') {
+    pm.state = 'pending';
+    pm.pendingExitReminder = false;
+    return true;
+  }
+  if (pm.state === 'exitPending') {
+    pm.state = 'active';
+    pm.pendingExitReminder = false;
+    return true;
+  }
+  return false;
+}
+
+function activate(pm) {
+  if (!pm) return false;
+  if (pm.state !== 'pending' && pm.state !== 'inactive') return false;
+  pm.state = 'active';
+  pm.wasActive = true;
+  pm.reminderCount = 0;
+  pm.awaitingApproval = false;
+  pm.pendingExitReminder = false;
+  return true;
+}
+
+function requestExit(pm) {
+  if (!pm || pm.state !== 'active') return false;
+  pm.state = 'exitPending';
+  pm.awaitingApproval = true;
+  return true;
+}
+
+function approveExit(pm) {
+  if (!pm) return false;
+  if (pm.state !== 'active' && pm.state !== 'exitPending') return false;
+  pm.state = 'inactive';
+  pm.awaitingApproval = false;
+  pm.reminderCount = 0;
+  pm.pendingExitReminder = false;
+  return true;
+}
+
+function rejectExit(pm) {
+  if (!pm) return false;
+  pm.state = 'active';
+  pm.awaitingApproval = false;
+  return true;
+}
+
+function reminder(pm, opts) {
+  opts = opts || {};
+  const path = (pm && pm.planPath) || 'plan.md';
+  const has = !!opts.hasContent;
+  const full = has
+    ? 'Plan mode is active. Do not make any edits or writes to the system.\n\n' +
+      'A plan file exists at ' +
+      path +
+      '. You can read it and make edits using write_file or search_replace.\n' +
+      'This is the only file you are allowed to edit.\n\n' +
+      'Your turn should only end with either ask_user_question to clarify requirements or exit_plan_mode to present your plan to the user.'
+    : 'Plan mode is active. Do not make any edits or writes to the system.\n\n' +
+      'No plan written yet. Write your plan to ' +
+      path +
+      ' using write_file.\n' +
+      'This is the only file you are allowed to edit.\n\n' +
+      'Your turn should only end with either ask_user_question to clarify requirements or exit_plan_mode to present your plan to the user.';
+  const sparse = 'Plan mode is still active. Do not make any edits or writes to the system except for the plan file.';
+  const useFull = !pm || pm.reminderCount % 2 === 0;
+  if (pm) pm.reminderCount += 1;
+  return useFull ? full : sparse;
+}
+
+function exitReminder() {
+  return 'You have exited plan mode. You can now make edits, run tools, and take actions. Implement the approved plan.';
+}
+
+function isWriteTool(name) {
+  return WRITE_TOOLS.indexOf(String(name || '')) >= 0;
+}
+
+function basename(p) {
+  const s = String(p || '').replace(/\\/g, '/');
+  const i = s.lastIndexOf('/');
+  return i >= 0 ? s.slice(i + 1) : s;
+}
+
+function isPlanFilePath(filePath, planPath) {
+  const want = basename(planPath || 'plan.md').toLowerCase();
+  const got = basename(filePath).toLowerCase();
+  if (!got) return false;
+  if (got === want) return true;
+  return PLAN_FILE_NAMES.indexOf(got) >= 0;
+}
+
+function gateWrite(pm, name, args) {
+  if (!isActive(pm)) return null;
+  if (!isWriteTool(name)) return null;
+  if (name === 'run_terminal_cmd') {
+    return (
+      'Plan mode is active. Shell is blocked. Write only ' +
+      ((pm && pm.planPath) || 'plan.md') +
+      ', or call exit_plan_mode.'
+    );
+  }
+  const file = args && (args.path || args.file);
+  if (isPlanFilePath(file, pm && pm.planPath)) return null;
+  return (
+    'Rejected: file edits are not allowed in plan mode - the only editable file is the plan file (' +
+    ((pm && pm.planPath) || 'plan.md') +
+    ').'
+  );
+}
+
+function snapshot(pm) {
+  if (!pm) return { state: 'inactive', reminderCount: 0, planPath: 'plan.md', awaitingApproval: false };
+  return {
+    state: pm.state,
+    reminderCount: pm.reminderCount,
+    planPath: pm.planPath || 'plan.md',
+    awaitingApproval: !!pm.awaitingApproval,
+    wasActive: !!pm.wasActive,
+    pendingExitReminder: !!pm.pendingExitReminder,
+  };
+}
+
+module.exports = {
+  STATES,
+  WRITE_TOOLS,
+  create,
+  isActive,
+  enterPending,
+  activate,
+  requestExit,
+  approveExit,
+  rejectExit,
+  reminder,
+  exitReminder,
+  isWriteTool,
+  isPlanFilePath,
+  gateWrite,
+  snapshot,
+};
diff --git a/native-host/agent/sessions.js b/native-host/agent/sessions.js
index f195546..0e08d1d 100644
--- a/native-host/agent/sessions.js
+++ b/native-host/agent/sessions.js
@@ -57,6 +57,8 @@ function create(meta) {
     createdAt: Date.now(),
     updatedAt: Date.now(),
     plan: [],
+    planMode: meta.planMode || { state: 'inactive', planPath: 'plan.md', reminderCount: 0 },
+    goal: meta.goal || null,
   };
   fs.writeFileSync(path.join(dir, 'summary.json'), JSON.stringify(summary, null, 2));
   fs.writeFileSync(path.join(dir, 'chat_history.jsonl'), '');
@@ -78,7 +80,10 @@ function load(id) {
 
 function saveSummary(summary) {
   summary.updatedAt = Date.now();
-  fs.writeFileSync(path.join(sessionDir(summary.id), 'summary.json'), JSON.stringify(summary, null, 2));
+  const copy = Object.assign({}, summary);
+  delete copy.history;
+  delete copy.updates;
+  fs.writeFileSync(path.join(sessionDir(summary.id), 'summary.json'), JSON.stringify(copy, null, 2));
 }
 
 function appendHistory(id, msg) {
@@ -95,6 +100,24 @@ function replaceHistory(id, history) {
   fs.writeFileSync(file, body ? body + '\n' : '');
 }
 
+function planFile(id) {
+  return path.join(sessionDir(id), 'plan.md');
+}
+
+function readPlan(id) {
+  try {
+    return fs.readFileSync(planFile(id), 'utf8');
+  } catch (_) {
+    return '';
+  }
+}
+
+function writePlan(id, text) {
+  const file = planFile(id);
+  fs.writeFileSync(file, String(text != null ? text : ''));
+  return file;
+}
+
 function list() {
   const root = sessionsRoot();
   let names = [];
@@ -121,6 +144,10 @@ module.exports = {
   appendHistory,
   appendUpdate,
   replaceHistory,
+  sessionDir,
+  planFile,
+  readPlan,
+  writePlan,
   list,
   makeId,
 };
diff --git a/native-host/agent/stationarity.js b/native-host/agent/stationarity.js
new file mode 100644
index 0000000..1578149
--- /dev/null
+++ b/native-host/agent/stationarity.js
@@ -0,0 +1,61 @@
+/**
+ * Identical tool-call stationarity. No Bare imports.
+ * Same name+args 4 times → nudge; 8 times → stuck.
+ */
+
+const NUDGE_AFTER = 4;
+const STOP_AFTER = 8;
+
+function fingerprint(name, args) {
+  let a = args;
+  try {
+    a = JSON.stringify(args || {});
+  } catch (_) {
+    a = String(args);
+  }
+  return String(name || '') + ':' + a;
+}
+
+function create() {
+  return { last: null, count: 0, nudged: false };
+}
+
+function observe(st, name, args) {
+  if (!st) return 0;
+  const fp = fingerprint(name, args);
+  if (st.last === fp) st.count += 1;
+  else {
+    st.last = fp;
+    st.count = 1;
+    st.nudged = false;
+  }
+  return st.count;
+}
+
+function shouldNudge(st) {
+  return !!(st && st.count >= NUDGE_AFTER && st.count < STOP_AFTER && !st.nudged);
+}
+
+function shouldStop(st) {
+  return !!(st && st.count >= STOP_AFTER);
+}
+
+function nudgeText() {
+  return 'You are repeating the same tool call. Try a different approach, a different path, or finish.';
+}
+
+function markNudged(st) {
+  if (st) st.nudged = true;
+}
+
+module.exports = {
+  NUDGE_AFTER,
+  STOP_AFTER,
+  fingerprint,
+  create,
+  observe,
+  shouldNudge,
+  shouldStop,
+  nudgeText,
+  markNudged,
+};
diff --git a/native-host/agent/tasks.js b/native-host/agent/tasks.js
index 00ee0b4..1db56b2 100644
--- a/native-host/agent/tasks.js
+++ b/native-host/agent/tasks.js
@@ -3,6 +3,7 @@
  */
 
 const tasks = new Map();
+const waiters = [];
 
 function makeId() {
   return 'task_' + Date.now().toString(36) + '_' + Math.random().toString(36).slice(2, 8);
@@ -21,6 +22,12 @@ function create(label) {
   return id;
 }
 
+function flushWaiters() {
+  for (let i = waiters.length - 1; i >= 0; i--) {
+    if (waiters[i]()) waiters.splice(i, 1);
+  }
+}
+
 function finish(id, summary) {
   const t = tasks.get(id);
   if (t) {
@@ -28,6 +35,7 @@ function finish(id, summary) {
     t.summary = summary;
     t.updatedAt = Date.now();
   }
+  flushWaiters();
   return t || null;
 }
 
@@ -38,6 +46,7 @@ function fail(id, err) {
     t.summary = String(err || 'error');
     t.updatedAt = Date.now();
   }
+  flushWaiters();
   return t || null;
 }
 
@@ -54,9 +63,24 @@ function list() {
   }));
 }
 
-function waitAll() {
-  const running = list().filter((t) => t.status === 'running');
-  return { running: running.length, tasks: list() };
+function waitAll(opts) {
+  opts = opts || {};
+  const timeoutMs = opts.timeoutMs > 0 ? opts.timeoutMs : 120000;
+  const running = () => list().filter((t) => t.status === 'running');
+  if (!running().length) return Promise.resolve({ running: 0, tasks: list() });
+  return new Promise((resolve) => {
+    const timer = setTimeout(() => {
+      resolve({ running: running().length, tasks: list(), timedOut: true });
+    }, timeoutMs);
+    waiters.push(() => {
+      if (!running().length) {
+        clearTimeout(timer);
+        resolve({ running: 0, tasks: list() });
+        return true;
+      }
+      return false;
+    });
+  });
 }
 
 function kill(id) {
@@ -65,6 +89,7 @@ function kill(id) {
     t.status = 'killed';
     t.updatedAt = Date.now();
   }
+  flushWaiters();
   return t || null;
 }
 
@@ -78,6 +103,7 @@ function appendMessage(id, text) {
 
 function reset() {
   tasks.clear();
+  waiters.length = 0;
 }
 
 module.exports = { create, finish, fail, get, list, waitAll, kill, appendMessage, reset };
diff --git a/native-host/agent/todos.js b/native-host/agent/todos.js
new file mode 100644
index 0000000..c1f790e
--- /dev/null
+++ b/native-host/agent/todos.js
@@ -0,0 +1,57 @@
+/**
+ * Session todo list: merge-by-id, grok-shaped statuses. No Bare imports.
+ */
+
+const STATUSES = ['pending', 'in_progress', 'completed', 'cancelled'];
+
+function normalizeStatus(s) {
+  const v = String(s || 'pending')
+    .toLowerCase()
+    .replace(/[\s-]+/g, '_');
+  if (v === 'done' || v === 'complete') return 'completed';
+  if (v === 'progress' || v === 'doing' || v === 'inprogress') return 'in_progress';
+  if (v === 'cancel' || v === 'canceled') return 'cancelled';
+  if (STATUSES.indexOf(v) >= 0) return v;
+  return 'pending';
+}
+
+function normalizeItem(t, i) {
+  t = t || {};
+  return {
+    id: String(t.id || 'todo_' + (i + 1)),
+    content: String(t.content || t.text || t.title || ''),
+    status: normalizeStatus(t.status),
+  };
+}
+
+function merge(existing, incoming, mode) {
+  const next = Array.isArray(incoming) ? incoming.map(normalizeItem) : [];
+  if (mode === 'replace' || !existing || !existing.length) return next;
+  const byId = new Map();
+  for (const t of existing) {
+    const n = normalizeItem(t, 0);
+    byId.set(n.id, n);
+  }
+  for (const t of next) {
+    const prev = byId.get(t.id) || {};
+    const merged = Object.assign({}, prev, t);
+    if (!t.content && prev.content) merged.content = prev.content;
+    byId.set(t.id, merged);
+  }
+  return Array.from(byId.values());
+}
+
+function hasOpen(list) {
+  return (list || []).some((t) => t.status === 'pending' || t.status === 'in_progress');
+}
+
+function formatBlock(list) {
+  const todos = list || [];
+  if (!todos.length) return '[todos]\n(none)';
+  return (
+    '[todos]\n' +
+    todos.map((t) => '- [' + t.status + '] ' + t.id + ': ' + t.content).join('\n')
+  );
+}
+
+module.exports = { STATUSES, normalizeStatus, normalizeItem, merge, hasOpen, formatBlock };
diff --git a/native-host/agent/tool-set.js b/native-host/agent/tool-set.js
index 9d5168b..54d0c15 100644
--- a/native-host/agent/tool-set.js
+++ b/native-host/agent/tool-set.js
@@ -12,6 +12,7 @@ const HOST_WORKSPACE_TOOLS = [
   'run_terminal_cmd',
   'memory_search',
   'memory_get',
+  'memory_write',
 ];
 
 const HOST_WORKSPACE_SET = new Set(HOST_WORKSPACE_TOOLS);
@@ -25,6 +26,8 @@ const ALWAYS_BUILTIN_RESERVED = [
   'enter_plan_mode',
   'exit_plan_mode',
   'ask_user_question',
+  'update_goal',
+  'memory_write',
   'task',
   'send_subagent_message',
   'get_task_output',
@@ -54,7 +57,8 @@ function filterBuiltinSchemas(schemas, opts) {
     list = list.filter((t) => allow.has(t.name));
   }
   if (opts.planMode) {
-    list = list.filter((t) => t.name !== 'search_replace' && t.name !== 'write_file' && t.name !== 'run_terminal_cmd');
+    // Keep write_file / search_replace so the model can edit plan.md; gate other writes at execute.
+    list = list.filter((t) => t.name !== 'run_terminal_cmd');
   }
   if (opts.webFetch !== true) {
     list = list.filter((t) => t.name !== 'web_fetch');
diff --git a/native-host/agent/tools.js b/native-host/agent/tools.js
index efaac37..8f8aa15 100644
--- a/native-host/agent/tools.js
+++ b/native-host/agent/tools.js
@@ -8,6 +8,9 @@ const fs = require('bare-fs');
 const sandbox = require('./sandbox.js');
 const memory = require('./memory.js');
 const toolSet = require('./tool-set.js');
+const planMode = require('./plan-mode.js');
+const todos = require('./todos.js');
+const goalMod = require('./goal.js');
 
 const MAX_READ = 400 * 1024;
 const MAX_GREP_HITS = 50;
@@ -119,18 +122,20 @@ const SCHEMAS = [
   { type: 'function', name: 'grep', description: 'Search workspace files with a JS regex.', parameters: { type: 'object', properties: { pattern: { type: 'string' }, path: { type: 'string' } }, required: ['pattern'] } },
   { type: 'function', name: 'list_dir', description: 'List a directory.', parameters: { type: 'object', properties: { path: { type: 'string' }, recursive: { type: 'boolean' } } } },
   { type: 'function', name: 'run_terminal_cmd', description: 'Run a shell command in the workspace cwd.', parameters: { type: 'object', properties: { command: { type: 'string' }, timeout_ms: { type: 'number' } }, required: ['command'] } },
-  { type: 'function', name: 'todo_write', description: 'Replace the session todo list.', parameters: { type: 'object', properties: { todos: { type: 'array', items: { type: 'object', properties: { id: { type: 'string' }, content: { type: 'string' }, status: { type: 'string' } } } } }, required: ['todos'] } },
+  { type: 'function', name: 'todo_write', description: 'Merge or replace session todos. Status: pending | in_progress | completed | cancelled.', parameters: { type: 'object', properties: { todos: { type: 'array', items: { type: 'object', properties: { id: { type: 'string' }, content: { type: 'string' }, status: { type: 'string', enum: ['pending', 'in_progress', 'completed', 'cancelled'] } } } }, merge: { type: 'boolean', description: 'If true (default), merge by id. If false, replace the list.' } }, required: ['todos'] } },
   { type: 'function', name: 'web_search', description: 'Search the public web (DuckDuckGo HTML).', parameters: { type: 'object', properties: { query: { type: 'string' } }, required: ['query'] } },
   { type: 'function', name: 'web_fetch', description: 'Fetch a public http(s) URL as text. Off unless enabled.', parameters: { type: 'object', properties: { url: { type: 'string' } }, required: ['url'] } },
   { type: 'function', name: 'memory_search', description: 'Search local agent memory notes.', parameters: { type: 'object', properties: { query: { type: 'string' } } } },
   { type: 'function', name: 'memory_get', description: 'Read a memory note by name.', parameters: { type: 'object', properties: { name: { type: 'string' } }, required: ['name'] } },
-  { type: 'function', name: 'enter_plan_mode', description: 'Switch to plan mode (no writes).', parameters: { type: 'object', properties: {} } },
-  { type: 'function', name: 'exit_plan_mode', description: 'Exit plan mode.', parameters: { type: 'object', properties: {} } },
+  { type: 'function', name: 'memory_write', description: 'Write a local agent memory note.', parameters: { type: 'object', properties: { name: { type: 'string' }, text: { type: 'string' } }, required: ['name', 'text'] } },
+  { type: 'function', name: 'enter_plan_mode', description: 'Switch to plan mode. Only plan.md is writable until the plan is approved.', parameters: { type: 'object', properties: {} } },
+  { type: 'function', name: 'exit_plan_mode', description: 'Present the plan for user approval and exit plan mode if approved.', parameters: { type: 'object', properties: {} } },
+  { type: 'function', name: 'update_goal', description: 'Update the active goal. Call with completed true when the objective is met, or blocked_reason if stuck.', parameters: { type: 'object', properties: { notes: { type: 'string' }, completed: { type: 'boolean' }, blocked_reason: { type: 'string' } } } },
   { type: 'function', name: 'ask_user_question', description: 'Ask the user a structured question.', parameters: { type: 'object', properties: { question: { type: 'string' }, options: { type: 'array', items: { type: 'string' } } }, required: ['question'] } },
   { type: 'function', name: 'task', description: 'Spawn a subagent with a focused prompt (same model).', parameters: { type: 'object', properties: { prompt: { type: 'string' }, label: { type: 'string' } }, required: ['prompt'] } },
   { type: 'function', name: 'send_subagent_message', description: 'Send a follow-up message to a subagent task.', parameters: { type: 'object', properties: { task_id: { type: 'string' }, message: { type: 'string' } }, required: ['task_id', 'message'] } },
   { type: 'function', name: 'get_task_output', description: 'Get status/output of a subagent task.', parameters: { type: 'object', properties: { task_id: { type: 'string' } }, required: ['task_id'] } },
-  { type: 'function', name: 'wait_tasks', description: 'List running and completed subagent tasks.', parameters: { type: 'object', properties: {} } },
+  { type: 'function', name: 'wait_tasks', description: 'Wait until subagent tasks finish (or timeout).', parameters: { type: 'object', properties: { timeout_ms: { type: 'number' } } } },
   { type: 'function', name: 'kill_task', description: 'Mark a running subagent task as killed.', parameters: { type: 'object', properties: { task_id: { type: 'string' } }, required: ['task_id'] } },
   { type: 'function', name: 'search_tool', description: 'Search registered MCP tools.', parameters: { type: 'object', properties: { query: { type: 'string' } } } },
   { type: 'function', name: 'use_tool', description: 'Invoke an MCP tool by server__name.', parameters: { type: 'object', properties: { name: { type: 'string' }, arguments: { type: 'object' } }, required: ['name'] } },
@@ -170,6 +175,8 @@ async function execute(ctx, name, args) {
   const origin = ctx.origin;
   const cwd = ctx.cwd;
   args = args || {};
+  const blocked = planMode.gateWrite(ctx.planTracker || ctx.planMode, name, args);
+  if (blocked) return blocked;
   if (toolSet.isHostWorkspaceTool(name) && ctx.hostWorkspace === false) {
     throw new Error('host workspace tools are disabled for this session');
   }
@@ -225,7 +232,8 @@ async function execute(ctx, name, args) {
       return runShell(cwd, args.command, args.timeout_ms || args.timeoutMs);
     }
     case 'todo_write': {
-      ctx.session.plan = args.todos || [];
+      const mode = args.merge === false || args.replace === true ? 'replace' : 'merge';
+      ctx.session.plan = todos.merge(ctx.session.plan, args.todos || [], mode);
       require('./sessions.js').saveSummary(ctx.session);
       return { ok: true, todos: ctx.session.plan };
     }
@@ -237,20 +245,55 @@ async function execute(ctx, name, args) {
       return memory.search(origin, args.query);
     case 'memory_get':
       return memory.readNote(origin, args.name);
-    case 'enter_plan_mode':
+    case 'memory_write': {
+      const file = memory.writeNote(origin, args.name, args.text != null ? args.text : args.content);
+      return { ok: true, file };
+    }
+    case 'enter_plan_mode': {
+      const tracker = ctx.planTracker || planMode.create(ctx.session && ctx.session.planMode);
+      planMode.activate(tracker);
+      ctx.planTracker = tracker;
       ctx.planMode = true;
-      return { planMode: true };
+      if (ctx.session) {
+        ctx.session.planMode = planMode.snapshot(tracker);
+        require('./sessions.js').saveSummary(ctx.session);
+      }
+      return { type: 'enter_plan_mode', planMode: planMode.snapshot(tracker) };
+    }
     case 'exit_plan_mode':
-      ctx.planMode = false;
-      return { planMode: false };
+      return { type: 'exit_plan_mode' };
     case 'ask_user_question':
       return { type: 'ask_user', question: args.question, options: args.options || [] };
+    case 'update_goal': {
+      const g = (ctx.session && ctx.session.goal) || goalMod.create('');
+      if (args.notes) g.notes = String(args.notes);
+      if (ctx.session) ctx.session.goal = g;
+      if (args.blocked_reason) {
+        g.status = 'blocked';
+        g.blockedReason = String(args.blocked_reason);
+        if (ctx.session) require('./sessions.js').saveSummary(ctx.session);
+        return { type: 'goal_blocked', goal: goalMod.snapshot(g), blocked_reason: g.blockedReason };
+      }
+      if (args.completed) {
+        if (todos.hasOpen(ctx.session && ctx.session.plan)) {
+          return {
+            error: 'Goal not complete: todos are still pending or in_progress. Finish or cancel them before update_goal({ completed: true }).',
+            todos: ctx.session && ctx.session.plan,
+          };
+        }
+        g.status = 'verifying';
+        if (ctx.session) require('./sessions.js').saveSummary(ctx.session);
+        return { type: 'goal_completed', goal: goalMod.snapshot(g), verify: g.verify !== false };
+      }
+      if (ctx.session) require('./sessions.js').saveSummary(ctx.session);
+      return { ok: true, goal: goalMod.snapshot(g) };
+    }
     case 'send_subagent_message':
       return require('./tasks.js').appendMessage(args.task_id || args.taskId, args.message);
     case 'get_task_output':
       return require('./tasks.js').get(args.task_id || args.taskId);
     case 'wait_tasks':
-      return require('./tasks.js').waitAll();
+      return require('./tasks.js').waitAll({ timeoutMs: args.timeout_ms || args.timeoutMs });
     case 'kill_task':
       return require('./tasks.js').kill(args.task_id || args.taskId);
     case 'search_tool':
diff --git a/native-host/capabilities/agent.js b/native-host/capabilities/agent.js
index d29f67d..ff654c0 100644
--- a/native-host/capabilities/agent.js
+++ b/native-host/capabilities/agent.js
@@ -50,6 +50,10 @@ function createAgentPack() {
         model: p.model || 'qwen3.5-4b',
         title: p.title || 'New session',
         sessionId: p.sessionId,
+        goal: p.goal ? require('../agent/goal.js').create(p.goal, { verify: p.verify !== false }) : null,
+        planMode: p.planMode
+          ? { state: p.planMode === true || p.planMode === 'active' ? 'active' : 'inactive', planPath: 'plan.md' }
+          : undefined,
       });
       customTools.setSession(summary.id, { hostWorkspace });
       if (p.tools) {
@@ -104,7 +108,7 @@ function createAgentPack() {
           emit,
           jobId,
           payload,
-          planMode: !!payload.planMode,
+          planMode: payload.planMode,
         });
         emit('cap-end', { pack: 'agent', jobId, sessionId: session.id, ...result });
       } catch (err) {
@@ -122,6 +126,18 @@ function createAgentPack() {
       loop.resolvePermission(p.jobId, p.toolCallId, p.decision || p.allow ? 'allow' : 'deny');
       ctx.reply({ ok: true });
     },
+    async planDecision(ctx) {
+      if (refuseDisabled(ctx)) return;
+      const p = ctx.payload || {};
+      loop.resolvePlanDecision(p.sessionId, p.decision === 'approve' || p.approve === true ? 'approve' : 'reject');
+      ctx.reply({ ok: true });
+    },
+    async answer(ctx) {
+      if (refuseDisabled(ctx)) return;
+      const p = ctx.payload || {};
+      loop.resolveAsk(p.jobId, p.toolCallId, p.choice != null ? p.choice : p.answer);
+      ctx.reply({ ok: true });
+    },
     async registerTools(ctx) {
       if (refuseDisabled(ctx)) return;
       try {
diff --git a/native-host/test-bare.js b/native-host/test-bare.js
index 10fb084..64833c8 100644
--- a/native-host/test-bare.js
+++ b/native-host/test-bare.js
@@ -132,6 +132,10 @@ testPathJail();
 testAgentLoopFakeComplete()
   .then(() => testCustomToolLoop())
   .then(() => testHostWorkspaceOffLoop())
+  .then(() => testPlanWriteGateLoop())
+  .then(() => testAskUserLoop())
+  .then(() => testGoalPrematureLoop())
+  .then(() => testStationarityLoop())
   .then(() => testBareVersionsCoerce())
   .then(() => testQvacOffByDefault())
   .then(() => {
@@ -316,3 +320,190 @@ async function testHostWorkspaceOffLoop() {
   ok(firstNames.indexOf('grep') === -1, 'host grep not offered');
   ok(n >= 2, 'custom read_file then final');
 }
+
+function mockEngine(engine) {
+  const origComplete = engine.complete;
+  const origLoad = engine.load;
+  const origGet = engine.getLoaded;
+  engine.getLoaded = () => ({
+    modelId: 'fake',
+    friendlyId: 'qwen3.5-4b',
+    constant: 'QWEN3_5_4B_MULTIMODAL_Q4_K_M',
+    ctxSize: 8192,
+  });
+  engine.load = async () => engine.getLoaded();
+  return () => {
+    engine.complete = origComplete;
+    engine.load = origLoad;
+    engine.getLoaded = origGet;
+  };
+}
+
+async function testPlanWriteGateLoop() {
+  const tmp = tmpDir('bs-plan-');
+  process.env.BRIDGE_SWARM_STORAGE = tmp;
+  const engine = require('./qvac/engine.js');
+  const loop = require('./agent/loop.js');
+  const sessions = require('./agent/sessions.js');
+  const restore = mockEngine(engine);
+  let n = 0;
+  const results = [];
+  engine.complete = async () => {
+    n += 1;
+    if (n === 1) {
+      return {
+        text: '',
+        toolCalls: [
+          { id: 'e', name: 'enter_plan_mode', arguments: {} },
+          { id: 'w', name: 'write_file', arguments: { path: 'hello.js', contents: 'nope' } },
+        ],
+      };
+    }
+    return { text: 'planned', toolCalls: [] };
+  };
+  const cwd = path.join(tmp, 'ws');
+  fs.mkdirSync(cwd, { recursive: true });
+  const session = sessions.create({
+    origin: 'http://127.0.0.1:4173',
+    cwd,
+    model: 'qwen3.5-4b',
+    title: 'plan',
+  });
+  const result = await loop.runTurn({
+    session,
+    userText: 'plan then write',
+    jobId: 'job_plan',
+    payload: { _origin: 'http://127.0.0.1:4173', permissionMode: 'always-approve' },
+    emit(_t, p) {
+      if (p && p.type === 'tool_result') results.push(String(p.result || ''));
+    },
+  });
+  restore();
+  ok(result.ok, 'plan gate loop ok');
+  ok(results.some((r) => /Rejected|plan mode/i.test(r)), 'write to hello.js rejected');
+  ok(!fs.existsSync(path.join(cwd, 'hello.js')), 'hello.js not written');
+}
+
+async function testAskUserLoop() {
+  const tmp = tmpDir('bs-ask-');
+  process.env.BRIDGE_SWARM_STORAGE = tmp;
+  const engine = require('./qvac/engine.js');
+  const loop = require('./agent/loop.js');
+  const sessions = require('./agent/sessions.js');
+  const restore = mockEngine(engine);
+  let n = 0;
+  let choiceSeen = false;
+  engine.complete = async (opts) => {
+    n += 1;
+    if (n === 1) {
+      return {
+        text: '',
+        toolCalls: [{ id: 'a1', name: 'ask_user_question', arguments: { question: 'Pick', options: ['A', 'B'] } }],
+      };
+    }
+    const last = (opts.history || []).filter((m) => m.role === 'tool').pop();
+    choiceSeen = !!(last && /A/.test(String(last.content)));
+    return { text: 'chose A', toolCalls: [] };
+  };
+  const session = sessions.create({
+    origin: 'http://127.0.0.1:4173',
+    cwd: path.join(tmp, 'ws'),
+    model: 'qwen3.5-4b',
+    title: 'ask',
+  });
+  fs.mkdirSync(session.cwd, { recursive: true });
+  const result = await loop.runTurn({
+    session,
+    userText: 'ask me',
+    jobId: 'job_ask',
+    payload: { _origin: 'http://127.0.0.1:4173', permissionMode: 'always-approve' },
+    emit(_t, p) {
+      if (p && p.type === 'ask_user') loop.resolveAsk('job_ask', p.toolCallId, 'A');
+    },
+  });
+  restore();
+  ok(result.ok, 'ask loop ok');
+  ok(n >= 2, 'waited then continued');
+  ok(choiceSeen, 'choice reached history');
+}
+
+async function testGoalPrematureLoop() {
+  const tmp = tmpDir('bs-goal-');
+  process.env.BRIDGE_SWARM_STORAGE = tmp;
+  const engine = require('./qvac/engine.js');
+  const loop = require('./agent/loop.js');
+  const sessions = require('./agent/sessions.js');
+  const restore = mockEngine(engine);
+  let n = 0;
+  let premature = false;
+  engine.complete = async (opts) => {
+    n += 1;
+    if (!opts.tools || !opts.tools.length) {
+      return { text: '{"achieved": true, "gaps": []}', toolCalls: [] };
+    }
+    if (n === 1) {
+      return { text: '', toolCalls: [{ id: 'g1', name: 'update_goal', arguments: { completed: true } }] };
+    }
+    const last = (opts.history || []).filter((m) => m.role === 'tool').pop();
+    premature = !!(last && /todos|not complete/i.test(String(last.content)));
+    return { text: 'still working', toolCalls: [] };
+  };
+  const cwd = path.join(tmp, 'ws');
+  fs.mkdirSync(cwd, { recursive: true });
+  const session = sessions.create({
+    origin: 'http://127.0.0.1:4173',
+    cwd,
+    model: 'qwen3.5-4b',
+    title: 'goal',
+  });
+  session.plan = [{ id: '1', content: 'write file', status: 'pending' }];
+  const result = await loop.runTurn({
+    session,
+    userText: 'finish the goal',
+    jobId: 'job_goal',
+    payload: {
+      _origin: 'http://127.0.0.1:4173',
+      permissionMode: 'always-approve',
+      goal: 'Ship hello.js',
+      verify: false,
+    },
+    emit() {},
+  });
+  restore();
+  ok(result.ok, 'goal loop ok');
+  ok(premature, 'update_goal rejected with open todos');
+  ok(n >= 2, 'continued after premature stop');
+}
+
+async function testStationarityLoop() {
+  const tmp = tmpDir('bs-stuck-');
+  process.env.BRIDGE_SWARM_STORAGE = tmp;
+  const engine = require('./qvac/engine.js');
+  const loop = require('./agent/loop.js');
+  const sessions = require('./agent/sessions.js');
+  const restore = mockEngine(engine);
+  engine.complete = async () => {
+    const calls = [];
+    for (let i = 0; i < 8; i++) {
+      calls.push({ id: 'c' + i, name: 'list_dir', arguments: { path: '.' } });
+    }
+    return { text: '', toolCalls: calls };
+  };
+  const cwd = path.join(tmp, 'ws');
+  fs.mkdirSync(cwd, { recursive: true });
+  const session = sessions.create({
+    origin: 'http://127.0.0.1:4173',
+    cwd,
+    model: 'qwen3.5-4b',
+    title: 'stuck',
+  });
+  const result = await loop.runTurn({
+    session,
+    userText: 'list forever',
+    jobId: 'job_stuck',
+    payload: { _origin: 'http://127.0.0.1:4173', permissionMode: 'always-approve' },
+    emit() {},
+  });
+  restore();
+  ok(result.reason === 'stuck', 'stuck end reason');
+}
diff --git a/scripts/test-host-units.js b/scripts/test-host-units.js
index 0497fff..719fd9f 100644
--- a/scripts/test-host-units.js
+++ b/scripts/test-host-units.js
@@ -359,6 +359,119 @@ function testListenErrors() {
 
 testListenErrors();
 
+function testPlanMode() {
+  const plan = require('../native-host/agent/plan-mode.js');
+  const pm = plan.create();
+  assert.strictEqual(pm.state, 'inactive');
+  assert.strictEqual(plan.isActive(pm), false);
+  plan.enterPending(pm);
+  assert.strictEqual(pm.state, 'pending');
+  plan.activate(pm);
+  assert.strictEqual(pm.state, 'active');
+  assert.strictEqual(plan.isActive(pm), true);
+  const full = plan.reminder(pm, { hasContent: false });
+  assert.ok(/plan\.md/.test(full));
+  assert.ok(/ask_user_question/.test(full) || /exit_plan_mode/.test(full));
+  const sparse = plan.reminder(pm, { hasContent: true });
+  assert.ok(/still active/.test(sparse));
+  assert.ok(plan.gateWrite(pm, 'write_file', { path: 'hello.js' }));
+  assert.strictEqual(plan.gateWrite(pm, 'write_file', { path: 'plan.md' }), null);
+  assert.ok(plan.gateWrite(pm, 'run_terminal_cmd', { command: 'ls' }));
+  assert.strictEqual(plan.gateWrite(pm, 'read_file', { path: 'hello.js' }), null);
+  plan.requestExit(pm);
+  assert.strictEqual(pm.state, 'exitPending');
+  plan.rejectExit(pm);
+  assert.strictEqual(pm.state, 'active');
+  plan.requestExit(pm);
+  plan.approveExit(pm);
+  assert.strictEqual(pm.state, 'inactive');
+  assert.strictEqual(plan.gateWrite(pm, 'write_file', { path: 'hello.js' }), null);
+  const restored = plan.create({ state: 'exitPending', awaitingApproval: true });
+  assert.strictEqual(restored.state, 'active');
+}
+
+testPlanMode();
+
+function testTodosMerge() {
+  const todos = require('../native-host/agent/todos.js');
+  const a = todos.merge([], [{ id: '1', content: 'A', status: 'pending' }]);
+  const b = todos.merge(a, [{ id: '1', status: 'in_progress' }, { id: '2', content: 'B', status: 'done' }]);
+  assert.strictEqual(b.length, 2);
+  assert.strictEqual(b[0].status, 'in_progress');
+  assert.strictEqual(b[0].content, 'A');
+  assert.strictEqual(b[1].status, 'completed');
+  assert.strictEqual(todos.hasOpen(b), true);
+  const c = todos.merge(b, [{ id: '1', status: 'completed' }, { id: '2', status: 'cancelled' }]);
+  assert.strictEqual(todos.hasOpen(c), false);
+  const replaced = todos.merge(c, [{ id: 'x', content: 'only', status: 'pending' }], 'replace');
+  assert.strictEqual(replaced.length, 1);
+  assert.ok(/\[todos\]/.test(todos.formatBlock(replaced)));
+}
+
+testTodosMerge();
+
+function testStationarity() {
+  const st = require('../native-host/agent/stationarity.js');
+  const s = st.create();
+  for (let i = 0; i < 4; i++) st.observe(s, 'read_file', { path: 'a' });
+  assert.strictEqual(st.shouldNudge(s), true);
+  assert.strictEqual(st.shouldStop(s), false);
+  st.markNudged(s);
+  assert.strictEqual(st.shouldNudge(s), false);
+  for (let i = 0; i < 4; i++) st.observe(s, 'read_file', { path: 'a' });
+  assert.strictEqual(st.shouldStop(s), true);
+  st.observe(s, 'read_file', { path: 'b' });
+  assert.strictEqual(st.shouldStop(s), false);
+}
+
+testStationarity();
+
+function testGoalPremature() {
+  const goal = require('../native-host/agent/goal.js');
+  const todos = require('../native-host/agent/todos.js');
+  const g = goal.create('Ship hello.js');
+  assert.strictEqual(goal.isActive(g), true);
+  assert.ok(/update_goal/.test(goal.plannerAddendum(g)));
+  const open = todos.merge([], [{ id: '1', content: 'write', status: 'pending' }]);
+  assert.strictEqual(todos.hasOpen(open), true);
+  const v = goal.parseVerifier('{"achieved": false, "gaps": ["missing test"]}');
+  assert.strictEqual(v.achieved, false);
+  assert.strictEqual(v.gaps[0], 'missing test');
+  const ok = goal.parseVerifier('{"achieved": true, "gaps": []}');
+  assert.strictEqual(ok.achieved, true);
+}
+
+testGoalPremature();
+
+function testPlanSchemaKeepsWrites() {
+  const toolSet = require('../native-host/agent/tool-set.js');
+  const schemas = [
+    { name: 'write_file' },
+    { name: 'search_replace' },
+    { name: 'run_terminal_cmd' },
+    { name: 'read_file' },
+  ];
+  const on = toolSet.filterBuiltinSchemas(schemas, { planMode: true, hostWorkspace: true });
+  assert.strictEqual(on.some((t) => t.name === 'write_file'), true);
+  assert.strictEqual(on.some((t) => t.name === 'search_replace'), true);
+  assert.strictEqual(on.some((t) => t.name === 'run_terminal_cmd'), false);
+  assert.strictEqual(on.some((t) => t.name === 'read_file'), true);
+}
+
+testPlanSchemaKeepsWrites();
+
+function testTaskWait() {
+  const tasks = require('../native-host/agent/tasks.js');
+  tasks.reset();
+  const id = tasks.create('t');
+  const p = tasks.waitAll({ timeoutMs: 2000 });
+  tasks.finish(id, 'done');
+  return p.then((r) => {
+    assert.strictEqual(r.running, 0);
+    assert.strictEqual(r.tasks[0].status, 'done');
+  });
+}
+
 function testRegistryHas() {
   const registry = require('../native-host/capabilities/registry.js');
   registry.registerPack({ id: 'qvac', commands: { ping() {} } });
@@ -387,4 +500,11 @@ function testSemverPatch() {
 
 testSemverPatch();
 
-console.log('ok — host unit checks passed');
+testTaskWait()
+  .then(() => {
+    console.log('ok — host unit checks passed');
+  })
+  .catch((err) => {
+    console.error(err && err.stack ? err.stack : err);
+    process.exit(1);
+  });