diff --git a/cmd/clawgo/cmd_status.go b/cmd/clawgo/cmd_status.go
index 99a2fad..52c129b 100644
--- a/cmd/clawgo/cmd_status.go
+++ b/cmd/clawgo/cmd_status.go
@@ -10,6 +10,7 @@ import (
 	"time"
 
 	"clawgo/pkg/config"
+	"clawgo/pkg/nodes"
 	"clawgo/pkg/providers"
 )
 func statusCmd() {
@@ -158,6 +159,23 @@ func statusCmd() {
 			}
 			fmt.Printf("Autonomy Control: %s\n", autonomyControlState(workspace))
 		}
+		ns := nodes.DefaultManager().List()
+		if len(ns) > 0 {
+			online := 0
+			caps := map[string]int{"run": 0, "camera": 0, "screen": 0, "location": 0, "canvas": 0}
+			for _, n := range ns {
+				if n.Online {
+					online++
+				}
+				if n.Capabilities.Run { caps["run"]++ }
+				if n.Capabilities.Camera { caps["camera"]++ }
+				if n.Capabilities.Screen { caps["screen"]++ }
+				if n.Capabilities.Location { caps["location"]++ }
+				if n.Capabilities.Canvas { caps["canvas"]++ }
+			}
+			fmt.Printf("Nodes: total=%d online=%d\n", len(ns), online)
+			fmt.Printf("Nodes Capabilities: run=%d camera=%d screen=%d location=%d canvas=%d\n", caps["run"], caps["camera"], caps["screen"], caps["location"], caps["canvas"])
+		}
 	}
 }
 
diff --git a/pkg/agent/loop.go b/pkg/agent/loop.go
index 322626f..4416337 100644
--- a/pkg/agent/loop.go
+++ b/pkg/agent/loop.go
@@ -78,6 +78,7 @@ func NewAgentLoop(cfg *config.Config, msgBus *bus.MessageBus, provider providers
 	toolsRegistry.Register(tools.NewExecTool(cfg.Tools.Shell, workspace, processManager))
 	toolsRegistry.Register(tools.NewProcessTool(processManager))
 	nodesManager := nodes.DefaultManager()
+	nodesManager.SetAuditPath(filepath.Join(workspace, "memory", "nodes-audit.jsonl"))
 	nodesManager.Upsert(nodes.NodeInfo{ID: "local", Name: "local", Capabilities: nodes.Capabilities{Run: true, Invoke: true, Camera: true, Screen: true, Location: true, Canvas: true}, Online: true})
 	nodesManager.RegisterHandler("local", func(req nodes.Request) nodes.Response {
 		switch req.Action {
diff --git a/pkg/nodes/manager.go b/pkg/nodes/manager.go
index 04e044f..d7128b8 100644
--- a/pkg/nodes/manager.go
+++ b/pkg/nodes/manager.go
@@ -1,6 +1,9 @@
 package nodes
 
 import (
+	"encoding/json"
+	"os"
+	"path/filepath"
 	"sort"
 	"strings"
 	"sync"
@@ -13,10 +16,11 @@ const defaultNodeTTL = 60 * time.Second
 type Handler func(req Request) Response
 
 type Manager struct {
-	mu       sync.RWMutex
-	nodes    map[string]NodeInfo
-	handlers map[string]Handler
-	ttl      time.Duration
+	mu        sync.RWMutex
+	nodes     map[string]NodeInfo
+	handlers  map[string]Handler
+	ttl       time.Duration
+	auditPath string
 }
 
 var defaultManager = NewManager()
@@ -29,12 +33,34 @@ func NewManager() *Manager {
 	return m
 }
 
+func (m *Manager) SetAuditPath(path string) {
+	m.mu.Lock()
+	defer m.mu.Unlock()
+	m.auditPath = strings.TrimSpace(path)
+}
+
 func (m *Manager) Upsert(info NodeInfo) {
 	m.mu.Lock()
 	defer m.mu.Unlock()
-	info.LastSeenAt = time.Now().UTC()
+	now := time.Now().UTC()
+	old, existed := m.nodes[info.ID]
+	info.LastSeenAt = now
 	info.Online = true
+	if existed {
+		if info.RegisteredAt.IsZero() {
+			info.RegisteredAt = old.RegisteredAt
+		}
+		if strings.TrimSpace(info.Endpoint) == "" {
+			info.Endpoint = old.Endpoint
+		}
+		if strings.TrimSpace(info.Token) == "" {
+			info.Token = old.Token
+		}
+	} else if info.RegisteredAt.IsZero() {
+		info.RegisteredAt = now
+	}
 	m.nodes[info.ID] = info
+	m.appendAudit("upsert", info.ID, map[string]interface{}{"existed": existed, "endpoint": info.Endpoint, "version": info.Version})
 }
 
 func (m *Manager) MarkOffline(id string) {
@@ -95,7 +121,20 @@ func (m *Manager) SupportsAction(nodeID, action string) bool {
 	if !ok || !n.Online {
 		return false
 	}
-	switch strings.ToLower(strings.TrimSpace(action)) {
+	action = strings.ToLower(strings.TrimSpace(action))
+	if len(n.Actions) > 0 {
+		allowed := false
+		for _, a := range n.Actions {
+			if strings.ToLower(strings.TrimSpace(a)) == action {
+				allowed = true
+				break
+			}
+		}
+		if !allowed {
+			return false
+		}
+	}
+	switch action {
 	case "run":
 		return n.Capabilities.Run
 	case "camera_snap", "camera_clip":
@@ -154,12 +193,38 @@ func (m *Manager) reaperLoop() {
 	for range t.C {
 		cutoff := time.Now().UTC().Add(-m.ttl)
 		m.mu.Lock()
+		offlined := make([]string, 0)
 		for id, n := range m.nodes {
 			if n.Online && !n.LastSeenAt.IsZero() && n.LastSeenAt.Before(cutoff) {
 				n.Online = false
 				m.nodes[id] = n
+				offlined = append(offlined, id)
 			}
 		}
 		m.mu.Unlock()
+		for _, id := range offlined {
+			m.appendAudit("offline_ttl", id, nil)
+		}
 	}
 }
+
+func (m *Manager) appendAudit(event, nodeID string, data map[string]interface{}) {
+	m.mu.RLock()
+	path := m.auditPath
+	m.mu.RUnlock()
+	if strings.TrimSpace(path) == "" {
+		return
+	}
+	_ = os.MkdirAll(filepath.Dir(path), 0755)
+	row := map[string]interface{}{"time": time.Now().UTC().Format(time.RFC3339), "event": event, "node": nodeID}
+	for k, v := range data {
+		row[k] = v
+	}
+	b, _ := json.Marshal(row)
+	f, err := os.OpenFile(path, os.O_CREATE|os.O_APPEND|os.O_WRONLY, 0644)
+	if err != nil {
+		return
+	}
+	defer f.Close()
+	_, _ = f.Write(append(b, '\n'))
+}
diff --git a/pkg/nodes/types.go b/pkg/nodes/types.go
index 20611e2..9205c86 100644
--- a/pkg/nodes/types.go
+++ b/pkg/nodes/types.go
@@ -22,6 +22,8 @@ type NodeInfo struct {
 	Endpoint     string       `json:"endpoint,omitempty"`
 	Token        string       `json:"token,omitempty"`
 	Capabilities Capabilities `json:"capabilities"`
+	Actions      []string     `json:"actions,omitempty"`
+	RegisteredAt time.Time    `json:"registered_at,omitempty"`
 	LastSeenAt   time.Time    `json:"last_seen_at"`
 	Online       bool         `json:"online"`
 }
diff --git a/pkg/tools/nodes_tool.go b/pkg/tools/nodes_tool.go
index 7acadbf..a35595b 100644
--- a/pkg/tools/nodes_tool.go
+++ b/pkg/tools/nodes_tool.go
@@ -82,10 +82,18 @@ func (t *NodesTool) Execute(ctx context.Context, args map[string]interface{}) (s
 			reqArgs["command"] = cmd
 		}
 		if facing, _ := args["facing"].(string); strings.TrimSpace(facing) != "" {
-			reqArgs["facing"] = strings.TrimSpace(facing)
+			f := strings.ToLower(strings.TrimSpace(facing))
+			if f != "front" && f != "back" && f != "both" {
+				return "", fmt.Errorf("invalid_args: facing must be front|back|both")
+			}
+			reqArgs["facing"] = f
 		}
-		if d, ok := args["duration_ms"].(float64); ok && d > 0 {
-			reqArgs["duration_ms"] = int(d)
+		if d, ok := args["duration_ms"].(float64); ok {
+			di := int(d)
+			if di <= 0 || di > 300000 {
+				return "", fmt.Errorf("invalid_args: duration_ms must be in 1..300000")
+			}
+			reqArgs["duration_ms"] = di
 		}
 		resp, err := t.router.Dispatch(ctx, nodes.Request{Action: action, Node: nodeID, Args: reqArgs}, mode)
 		if err != nil {