diff --git a/.github/mergify.yml b/.github/mergify.yml
index 107043832..e562c3446 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -1,6 +1,11 @@
 queue_rules:
   - name: default
-    conditions:
+    merge_method: squash
+    commit_message_template: |
+      {{ title }} (#{{ number }})
+
+      {{ body }}
+    queue_conditions:
       - or:
         - and:
           - -files~=\.hs$
@@ -30,11 +35,6 @@ pull_request_rules:
 - actions:
     queue:
       name: default
-      method: squash
-      commit_message_template: |
-        {{ title }} (#{{ number }})
-
-        {{ body }}
 
   name: Automatically merge pull requests
   conditions:
diff --git a/app/game/Main.hs b/app/game/Main.hs
index d43a88a4e..cde368d9c 100644
--- a/app/game/Main.hs
+++ b/app/game/Main.hs
@@ -67,6 +67,7 @@ cliParser =
     scriptToRun <- run
     pausedAtStart <- paused
     autoPlay <- autoplay
+    autoShowObjectives <- not <$> hideGoal
     speed <- speedFactor
     debugOptions <- debug
     cheatMode <- cheat
@@ -127,6 +128,8 @@ cliParser =
   paused = switch (long "paused" <> short 'p' <> help "Pause the game at start.")
   autoplay :: Parser Bool
   autoplay = switch (long "autoplay" <> short 'a' <> help "Automatically run the solution defined in the scenario, if there is one. Mutually exclusive with --run.")
+  hideGoal :: Parser Bool
+  hideGoal = switch (long "hide-goal" <> help "Do not show goal modal window that pauses the game.")
   speedFactor :: Parser Int
   speedFactor = option auto (long "speed" <> short 'm' <> metavar "N" <> value defaultInitLgTicksPerSecond <> help speedFactorHelp)
   speedFactorHelp =
diff --git a/src/swarm-engine/Swarm/Game/State.hs b/src/swarm-engine/Swarm/Game/State.hs
index 883ba8dd4..04d517e6e 100644
--- a/src/swarm-engine/Swarm/Game/State.hs
+++ b/src/swarm-engine/Swarm/Game/State.hs
@@ -461,7 +461,9 @@ initGameState :: GameStateConfig -> GameState
 initGameState gsc =
   GameState
     { _creativeMode = False
-    , _temporal = initTemporalState $ startPaused gsc
+    , _temporal =
+        initTemporalState (startPaused gsc)
+          & pauseOnObjective .~ (if pauseOnObjectiveCompletion gsc then PauseOnAnyObjective else PauseOnWin)
     , _winCondition = NoWinCondition
     , _winSolution = Nothing
     , _robotInfo = initRobots gsc
diff --git a/src/swarm-engine/Swarm/Game/State/Runtime.hs b/src/swarm-engine/Swarm/Game/State/Runtime.hs
index 411153d47..f48f53c84 100644
--- a/src/swarm-engine/Swarm/Game/State/Runtime.hs
+++ b/src/swarm-engine/Swarm/Game/State/Runtime.hs
@@ -79,17 +79,18 @@ initGameStateConfig ::
   , Has (Accum (Seq SystemFailure)) sig m
   , Has (Lift IO) sig m
   ) =>
-  Bool ->
+  RuntimeOptions ->
   m GameStateConfig
-initGameStateConfig pause = do
-  gsi <- initGameStateInputs
-  appDataMap <- readAppData
-  nameGen <- initNameGenerator appDataMap
-  return $ GameStateConfig appDataMap nameGen pause gsi
+initGameStateConfig RuntimeOptions {..} = do
+  initAppDataMap <- readAppData
+  nameParts <- initNameGenerator initAppDataMap
+  initState <- initGameStateInputs
+  return $ GameStateConfig {..}
 
 -- | Runtime state initialization options.
 data RuntimeOptions = RuntimeOptions
-  { gamePausedAtStart :: Bool
+  { startPaused :: Bool
+  , pauseOnObjectiveCompletion :: Bool
   , loadTestScenarios :: Bool
   }
   deriving (Eq, Show)
@@ -101,10 +102,9 @@ initRuntimeState ::
   ) =>
   RuntimeOptions ->
   m RuntimeState
-initRuntimeState RuntimeOptions {..} = do
-  gsc <- initGameStateConfig gamePausedAtStart
-  scenarios <- loadScenarios (gsiScenarioInputs $ initState gsc) loadTestScenarios
-
+initRuntimeState opts = do
+  gsc <- initGameStateConfig opts
+  scenarios <- loadScenarios (gsiScenarioInputs $ initState gsc) (loadTestScenarios opts)
   return $
     RuntimeState
       { _webPort = Nothing
diff --git a/src/swarm-engine/Swarm/Game/State/Substate.hs b/src/swarm-engine/Swarm/Game/State/Substate.hs
index f271b33fe..85305ab0b 100644
--- a/src/swarm-engine/Swarm/Game/State/Substate.hs
+++ b/src/swarm-engine/Swarm/Game/State/Substate.hs
@@ -27,12 +27,14 @@ module Swarm.Game.State.Substate (
 
   -- *** Temporal state
   TemporalState,
+  PauseOnObjective (..),
   initTemporalState,
   gameStep,
   runStatus,
   ticks,
   robotStepsPerTick,
   paused,
+  pauseOnObjective,
 
   -- *** Recipes
   Recipes,
@@ -146,7 +148,7 @@ data WinStatus
     -- The boolean indicates whether they have
     -- already been informed.
     Unwinnable Bool
-  deriving (Show, Generic, FromJSON, ToJSON)
+  deriving (Eq, Show, Generic, FromJSON, ToJSON)
 
 data WinCondition
   = -- | There is no winning condition.
@@ -274,11 +276,15 @@ data SingleStep
 -- | Game step mode - we use the single step mode when debugging robot 'CESK' machine.
 data Step = WorldTick | RobotStep SingleStep
 
+data PauseOnObjective = PauseOnWin | PauseOnAnyObjective
+  deriving (Eq, Ord, Show, Enum, Bounded)
+
 data TemporalState = TemporalState
   { _gameStep :: Step
   , _runStatus :: RunStatus
   , _ticks :: TickNumber
   , _robotStepsPerTick :: Int
+  , _pauseOnObjective :: PauseOnObjective
   }
 
 makeLensesNoSigs ''TemporalState
@@ -300,6 +306,9 @@ ticks :: Lens' TemporalState TickNumber
 --   a single tick.
 robotStepsPerTick :: Lens' TemporalState Int
 
+-- | Whether to pause the game after an objective is completed.
+pauseOnObjective :: Lens' TemporalState PauseOnObjective
+
 data GameControls = GameControls
   { _replStatus :: REPLStatus
   , _replNextValueIndex :: Integer
@@ -406,6 +415,7 @@ initTemporalState pausedAtStart =
     , _runStatus = if pausedAtStart then ManualPause else Running
     , _ticks = TickNumber 0
     , _robotStepsPerTick = defaultRobotStepsPerTick
+    , _pauseOnObjective = PauseOnAnyObjective
     }
 
 initGameControls :: GameControls
diff --git a/src/swarm-engine/Swarm/Game/Step.hs b/src/swarm-engine/Swarm/Game/Step.hs
index df7a217f5..5fd0eaf7b 100644
--- a/src/swarm-engine/Swarm/Game/Step.hs
+++ b/src/swarm-engine/Swarm/Game/Step.hs
@@ -28,6 +28,7 @@ import Control.Effect.Lens
 import Control.Effect.Lift
 import Control.Lens as Lens hiding (Const, distrib, from, parts, use, uses, view, (%=), (+=), (.=), (<+=), (<>=))
 import Control.Monad (foldM, forM_, unless, when)
+import Data.Foldable.Extra (notNull)
 import Data.Functor (void)
 import Data.IntMap qualified as IM
 import Data.IntSet qualified as IS
@@ -338,7 +339,13 @@ hypotheticalWinCheck em g ws oc = do
     Unwinnable _ -> grantAchievement LoseScenario
     _ -> return ()
 
-  messageInfo . announcementQueue %= (>< Seq.fromList (map ObjectiveCompleted $ completionAnnouncementQueue finalAccumulator))
+  queue <- messageInfo . announcementQueue Swarm.Util.<%= (>< Seq.fromList (map ObjectiveCompleted $ completionAnnouncementQueue finalAccumulator))
+  shouldPause <- use $ temporal . pauseOnObjective
+
+  let gameFinished = newWinState /= Ongoing
+  let finishedObjectives = notNull queue
+  when (gameFinished || (finishedObjectives && shouldPause == PauseOnAnyObjective)) $
+    temporal . runStatus .= AutoPause
 
   mapM_ handleException $ exceptions finalAccumulator
  where
diff --git a/src/swarm-scenario/Swarm/Game/State/Config.hs b/src/swarm-scenario/Swarm/Game/State/Config.hs
index 03978f64b..f2e71322c 100644
--- a/src/swarm-scenario/Swarm/Game/State/Config.hs
+++ b/src/swarm-scenario/Swarm/Game/State/Config.hs
@@ -18,5 +18,7 @@ data GameStateConfig = GameStateConfig
   -- ^ Lists of words/adjectives for use in building random robot names.
   , startPaused :: Bool
   -- ^ Start the game paused - useful for debugging or competitive play.
+  , pauseOnObjectiveCompletion :: Bool
+  -- ^ Pause the game when any objective is completed.
   , initState :: GameStateInputs
   }
diff --git a/src/swarm-tournament/Swarm/Web/Tournament/Validate.hs b/src/swarm-tournament/Swarm/Web/Tournament/Validate.hs
index e8913a4d9..36f8674c4 100644
--- a/src/swarm-tournament/Swarm/Web/Tournament/Validate.hs
+++ b/src/swarm-tournament/Swarm/Web/Tournament/Validate.hs
@@ -30,7 +30,7 @@ import Swarm.Game.Scenario.Scoring.CodeSize (codeMetricsFromSyntax)
 import Swarm.Game.Scenario.Status (emptyLaunchParams)
 import Swarm.Game.State
 import Swarm.Game.State.Initialize (scenarioToGameState)
-import Swarm.Game.State.Runtime (initGameStateConfig, initScenarioInputs)
+import Swarm.Game.State.Runtime (RuntimeOptions (..), initGameStateConfig, initScenarioInputs, pauseOnObjectiveCompletion)
 import Swarm.Game.State.Substate (initState, seed)
 import Swarm.Game.Step.Validate (playUntilWin)
 import Swarm.Language.Pipeline
@@ -184,7 +184,12 @@ gamestateFromScenarioText content = do
       . ExceptT
       . runThrow
       . evalAccum (mempty :: Seq SystemFailure)
-      $ initGameStateConfig False
+      . initGameStateConfig
+      $ RuntimeOptions
+        { startPaused = False
+        , pauseOnObjectiveCompletion = False
+        , loadTestScenarios = False
+        }
 
   let scenarioInputs = gsiScenarioInputs $ initState gsc
   scenarioObject <- initScenarioObject scenarioInputs content
diff --git a/src/swarm-tui/Swarm/TUI/Controller.hs b/src/swarm-tui/Swarm/TUI/Controller.hs
index a8476ec71..4410422c8 100644
--- a/src/swarm-tui/Swarm/TUI/Controller.hs
+++ b/src/swarm-tui/Swarm/TUI/Controller.hs
@@ -96,12 +96,10 @@ import Swarm.TUI.Launch.Model
 import Swarm.TUI.Launch.Prep (prepareLaunchDialog)
 import Swarm.TUI.List
 import Swarm.TUI.Model
-import Swarm.TUI.Model.Goal
+import Swarm.TUI.Model.Dialog
 import Swarm.TUI.Model.Name
-import Swarm.TUI.Model.Popup (progressPopups)
 import Swarm.TUI.Model.Repl
 import Swarm.TUI.Model.StateUpdate
-import Swarm.TUI.Model.Structure
 import Swarm.TUI.Model.UI
 import Swarm.Util hiding (both, (<<.=))
 
@@ -294,14 +292,14 @@ handleMainEvent forceRedraw ev = do
       Web (RunWebCode e r) -> runBaseWebCode e r
       UpstreamVersion _ -> error "version event should be handled by top-level handler"
     VtyEvent (V.EvResize _ _) -> invalidateCache
-    EscapeKey | Just m <- s ^. uiState . uiGameplay . uiModal -> closeModal m
+    EscapeKey | Just m <- s ^. uiState . uiGameplay . uiDialogs . uiModal -> closeModal m
     -- Pass to key handler (allows users to configure bindings)
     -- See Note [how Swarm event handlers work]
     VtyEvent (V.EvKey k m)
       | isJust (B.lookupVtyEvent k m keyHandler) -> void $ B.handleKey keyHandler k m
     -- pass keys on to modal event handler if a modal is open
     VtyEvent vev
-      | isJust (s ^. uiState . uiGameplay . uiModal) -> handleModalEvent vev
+      | isJust (s ^. uiState . uiGameplay . uiDialogs . uiModal) -> handleModalEvent vev
     MouseDown (TerrainListItem pos) V.BLeft _ _ ->
       uiState . uiGameplay . uiWorldEditor . terrainList %= BL.listMoveTo pos
     MouseDown (EntityPaintListItem pos) V.BLeft _ _ ->
@@ -367,7 +365,7 @@ handleMainEvent forceRedraw ev = do
 closeModal :: Modal -> EventM Name AppState ()
 closeModal m = do
   safeAutoUnpause
-  uiState . uiGameplay . uiModal .= Nothing
+  uiState . uiGameplay . uiDialogs . uiModal .= Nothing
   -- message modal is not autopaused, so update notifications when leaving it
   when ((m ^. modalType) == MessagesModal) $ do
     t <- use $ gameState . temporal . ticks
@@ -377,7 +375,7 @@ closeModal m = do
 handleModalEvent :: V.Event -> EventM Name AppState ()
 handleModalEvent = \case
   V.EvKey V.KEnter [] -> do
-    mdialog <- preuse $ uiState . uiGameplay . uiModal . _Just . modalDialog
+    mdialog <- preuse $ uiState . uiGameplay . uiDialogs . uiModal . _Just . modalDialog
     toggleModal QuitModal
     case dialogSelection =<< mdialog of
       Just (Button QuitButton, _) -> quitGame
@@ -391,33 +389,33 @@ handleModalEvent = \case
         startGame siPair Nothing
       _ -> return ()
   ev -> do
-    Brick.zoom (uiState . uiGameplay . uiModal . _Just . modalDialog) (handleDialogEvent ev)
-    modal <- preuse $ uiState . uiGameplay . uiModal . _Just . modalType
+    Brick.zoom (uiState . uiGameplay . uiDialogs . uiModal . _Just . modalDialog) (handleDialogEvent ev)
+    modal <- preuse $ uiState . uiGameplay . uiDialogs . uiModal . _Just . modalType
     case modal of
       Just TerrainPaletteModal ->
         refreshList $ uiState . uiGameplay . uiWorldEditor . terrainList
       Just EntityPaletteModal -> do
         refreshList $ uiState . uiGameplay . uiWorldEditor . entityPaintList
       Just GoalModal -> case ev of
-        V.EvKey (V.KChar '\t') [] -> uiState . uiGameplay . uiGoal . focus %= focusNext
+        V.EvKey (V.KChar '\t') [] -> uiState . uiGameplay . uiDialogs . uiGoal . focus %= focusNext
         _ -> do
-          focused <- use $ uiState . uiGameplay . uiGoal . focus
+          focused <- use $ uiState . uiGameplay . uiDialogs . uiGoal . focus
           case focusGetCurrent focused of
             Just (GoalWidgets w) -> case w of
               ObjectivesList -> do
-                lw <- use $ uiState . uiGameplay . uiGoal . listWidget
+                lw <- use $ uiState . uiGameplay . uiDialogs . uiGoal . listWidget
                 newList <- refreshGoalList lw
-                uiState . uiGameplay . uiGoal . listWidget .= newList
+                uiState . uiGameplay . uiDialogs . uiGoal . listWidget .= newList
               GoalSummary -> handleInfoPanelEvent modalScroll (VtyEvent ev)
             _ -> handleInfoPanelEvent modalScroll (VtyEvent ev)
       Just StructuresModal -> case ev of
-        V.EvKey (V.KChar '\t') [] -> uiState . uiGameplay . uiStructure . structurePanelFocus %= focusNext
+        V.EvKey (V.KChar '\t') [] -> uiState . uiGameplay . uiDialogs . uiStructure . structurePanelFocus %= focusNext
         _ -> do
-          focused <- use $ uiState . uiGameplay . uiStructure . structurePanelFocus
+          focused <- use $ uiState . uiGameplay . uiDialogs . uiStructure . structurePanelFocus
           case focusGetCurrent focused of
             Just (StructureWidgets w) -> case w of
               StructuresList ->
-                refreshList $ uiState . uiGameplay . uiStructure . structurePanelListWidget
+                refreshList $ uiState . uiGameplay . uiDialogs . uiStructure . structurePanelListWidget
               StructureSummary -> handleInfoPanelEvent modalScroll (VtyEvent ev)
             _ -> handleInfoPanelEvent modalScroll (VtyEvent ev)
       _ -> handleInfoPanelEvent modalScroll (VtyEvent ev)
diff --git a/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Main.hs b/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Main.hs
index b38006f2d..7bf59d637 100644
--- a/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Main.hs
+++ b/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Main.hs
@@ -24,8 +24,8 @@ import Swarm.TUI.Controller.Util
 import Swarm.TUI.Editor.Model (isWorldEditorEnabled, worldOverdraw)
 import Swarm.TUI.Model
 import Swarm.TUI.Model.DebugOption (DebugOption (ToggleCreative, ToggleWorldEditor))
+import Swarm.TUI.Model.Dialog.Goal
 import Swarm.TUI.Model.Event (MainEvent (..), SwarmEvent (..))
-import Swarm.TUI.Model.Goal
 import Swarm.TUI.Model.UI
 import System.Clock (Clock (..), TimeSpec (..), getTime)
 
@@ -88,7 +88,7 @@ toggleMessagesModal = do
 viewGoal :: EventM Name AppState ()
 viewGoal = do
   s <- get
-  if hasAnythingToShow $ s ^. uiState . uiGameplay . uiGoal . goalsContent
+  if hasAnythingToShow $ s ^. uiState . uiGameplay . uiDialogs . uiGoal . goalsContent
     then toggleModal GoalModal
     else continueWithoutRedraw
 
@@ -144,7 +144,7 @@ toggleREPLVisibility = do
 
 isRunning :: EventM Name AppState Bool
 isRunning = do
-  mt <- preuse $ uiState . uiGameplay . uiModal . _Just . modalType
+  mt <- preuse $ uiState . uiGameplay . uiDialogs . uiModal . _Just . modalType
   return $ maybe True isRunningModal mt
 
 whenRunning :: EventM Name AppState () -> EventM Name AppState ()
diff --git a/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Robot.hs b/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Robot.hs
index 542346f76..b2a0bcefb 100644
--- a/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Robot.hs
+++ b/src/swarm-tui/Swarm/TUI/Controller/EventHandlers/Robot.hs
@@ -69,7 +69,7 @@ showEntityDescription = gets focusedEntity >>= maybe continueWithoutRedraw descr
   descriptionModal e = do
     s <- get
     resetViewport modalScroll
-    uiState . uiGameplay . uiModal ?= generateModal s (DescriptionModal e)
+    uiState . uiGameplay . uiDialogs . uiModal ?= generateModal s (DescriptionModal e)
 
 -- | Attempt to make an entity selected from the inventory, if the
 --   base is not currently busy.
diff --git a/src/swarm-tui/Swarm/TUI/Controller/UpdateUI.hs b/src/swarm-tui/Swarm/TUI/Controller/UpdateUI.hs
index 5083e1d5b..a2e30d42b 100644
--- a/src/swarm-tui/Swarm/TUI/Controller/UpdateUI.hs
+++ b/src/swarm-tui/Swarm/TUI/Controller/UpdateUI.hs
@@ -37,9 +37,9 @@ import Swarm.TUI.Controller.SaveScenario (saveScenarioInfoOnFinishNocheat)
 import Swarm.TUI.Controller.Util
 import Swarm.TUI.Model
 import Swarm.TUI.Model.DebugOption (DebugOption (..))
-import Swarm.TUI.Model.Goal
+import Swarm.TUI.Model.Dialog.Goal
+import Swarm.TUI.Model.Dialog.Popup (Popup (..), addPopup)
 import Swarm.TUI.Model.Name
-import Swarm.TUI.Model.Popup (Popup (..), addPopup)
 import Swarm.TUI.Model.Repl
 import Swarm.TUI.Model.UI
 import Swarm.TUI.View.Objective qualified as GR
@@ -188,10 +188,9 @@ updateUI = do
 -- * shows the player more "optional" goals they can continue to pursue
 doGoalUpdates :: EventM Name AppState Bool
 doGoalUpdates = do
-  curGoal <- use (uiState . uiGameplay . uiGoal . goalsContent)
+  curGoal <- use (uiState . uiGameplay . uiDialogs . uiGoal . goalsContent)
   curWinCondition <- use (gameState . winCondition)
-  announcementsSeq <- use (gameState . messageInfo . announcementQueue)
-  let announcementsList = toList announcementsSeq
+  announcementsList <- use (gameState . messageInfo . announcementQueue . to toList)
 
   -- Decide whether we need to update the current goal text and pop
   -- up a modal dialog.
@@ -218,7 +217,7 @@ doGoalUpdates = do
       return True
     WinConditions _ oc -> do
       showHiddenGoals <- use $ uiState . uiDebugOptions . Lens.contains ShowHiddenGoals
-      currentModal <- preuse $ uiState . uiGameplay . uiModal . _Just . modalType
+      currentModal <- preuse $ uiState . uiGameplay . uiDialogs . uiModal . _Just . modalType
       let newGoalTracking = GoalTracking announcementsList $ constructGoalMap showHiddenGoals oc
           -- The "uiGoal" field is initialized with empty members, so we know that
           -- this will be the first time showing it if it will be nonempty after previously
@@ -232,16 +231,14 @@ doGoalUpdates = do
       when (goalWasUpdated && not isEnding) $ do
         -- The "uiGoal" field is necessary at least to "persist" the data that is needed
         -- if the player chooses to later "recall" the goals dialog with CTRL+g.
-        uiState . uiGameplay . uiGoal .= goalDisplay newGoalTracking
+        uiState . uiGameplay . uiDialogs . uiGoal .= goalDisplay newGoalTracking
 
         -- This clears the "flag" that indicate that the goals dialog needs to be
         -- automatically popped up.
         gameState . messageInfo . announcementQueue .= mempty
 
-        isAutoPlay <- use $ uiState . uiGameplay . uiIsAutoPlay
-        showGoalsAnyway <- use $ uiState . uiDebugOptions . Lens.contains ShowGoalDialogsInAutoPlay
-        unless (isAutoPlay && not showGoalsAnyway) $
-          openModal GoalModal
+        showObjectives <- use $ uiState . uiGameplay . uiAutoShowObjectives
+        when showObjectives $ openModal GoalModal
 
       return goalWasUpdated
  where
diff --git a/src/swarm-tui/Swarm/TUI/Controller/Util.hs b/src/swarm-tui/Swarm/TUI/Controller/Util.hs
index 20713716e..dff5581f9 100644
--- a/src/swarm-tui/Swarm/TUI/Controller/Util.hs
+++ b/src/swarm-tui/Swarm/TUI/Controller/Util.hs
@@ -76,7 +76,7 @@ openModal mt = do
   resetViewport modalScroll
   newModal <- gets $ flip generateModal mt
   ensurePause
-  uiState . uiGameplay . uiModal ?= newModal
+  uiState . uiGameplay . uiDialogs . uiModal ?= newModal
   -- Beep
   case mt of
     ScenarioEndModal _ -> do
@@ -121,10 +121,10 @@ safeAutoUnpause = do
 
 toggleModal :: ModalType -> EventM Name AppState ()
 toggleModal mt = do
-  modal <- use $ uiState . uiGameplay . uiModal
+  modal <- use $ uiState . uiGameplay . uiDialogs . uiModal
   case modal of
     Nothing -> openModal mt
-    Just _ -> uiState . uiGameplay . uiModal .= Nothing >> safeAutoUnpause
+    Just _ -> uiState . uiGameplay . uiDialogs . uiModal .= Nothing >> safeAutoUnpause
 
 setFocus :: FocusablePanel -> EventM Name AppState ()
 setFocus name = uiState . uiGameplay . uiFocusRing %= focusSetCurrent (FocusablePanel name)
diff --git a/src/swarm-tui/Swarm/TUI/Model.hs b/src/swarm-tui/Swarm/TUI/Model.hs
index 821932c67..ce15747a6 100644
--- a/src/swarm-tui/Swarm/TUI/Model.hs
+++ b/src/swarm-tui/Swarm/TUI/Model.hs
@@ -255,6 +255,8 @@ data AppOpts = AppOpts
   -- ^ Pause the game on start by default.
   , autoPlay :: Bool
   -- ^ Automatically run the solution defined in the scenario file
+  , autoShowObjectives :: Bool
+  -- ^ Show objectives dialogs when an objective is achieved/failed.
   , speed :: Int
   -- ^ Initial game speed (logarithm)
   , debugOptions :: Set DebugOption
@@ -275,6 +277,7 @@ defaultAppOpts =
     , userScenario = Nothing
     , scriptToRun = Nothing
     , pausedAtStart = False
+    , autoShowObjectives = True
     , autoPlay = False
     , speed = defaultInitLgTicksPerSecond
     , debugOptions = mempty
diff --git a/src/swarm-tui/Swarm/TUI/Model/Achievements.hs b/src/swarm-tui/Swarm/TUI/Model/Achievements.hs
index 60b895946..c6d0b8015 100644
--- a/src/swarm-tui/Swarm/TUI/Model/Achievements.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/Achievements.hs
@@ -19,7 +19,7 @@ import Swarm.Game.Achievement.Attainment
 import Swarm.Game.Achievement.Definitions
 import Swarm.Game.Achievement.Persistence
 import Swarm.TUI.Model
-import Swarm.TUI.Model.Popup (Popup (AchievementPopup), addPopup)
+import Swarm.TUI.Model.Dialog.Popup (Popup (AchievementPopup), addPopup)
 import Swarm.TUI.Model.UI
 
 attainAchievement :: (MonadIO m, MonadState AppState m) => CategorizedAchievement -> m ()
diff --git a/src/swarm-tui/Swarm/TUI/Model/DebugOption.hs b/src/swarm-tui/Swarm/TUI/Model/DebugOption.hs
index a3faaa981..5a7e12d14 100644
--- a/src/swarm-tui/Swarm/TUI/Model/DebugOption.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/DebugOption.hs
@@ -20,7 +20,6 @@ data DebugOption
   | ListAllRobots
   | ListRobotIDs
   | ShowHiddenGoals
-  | ShowGoalDialogsInAutoPlay
   | LoadTestingScenarios
   deriving (Eq, Ord, Show, Enum, Bounded)
 
@@ -32,7 +31,6 @@ debugOptionName = \case
   ListAllRobots -> "all_robots"
   ListRobotIDs -> "robot_id"
   ShowHiddenGoals -> "hidden_goals"
-  ShowGoalDialogsInAutoPlay -> "autoplay_goals"
   LoadTestingScenarios -> "testing"
 
 debugOptionDescription :: DebugOption -> String
@@ -43,7 +41,6 @@ debugOptionDescription = \case
   ListAllRobots -> "list all robots (including system robots) in the robot panel"
   ListRobotIDs -> "list robot IDs in the robot panel"
   ShowHiddenGoals -> "show hidden objectives in the goal dialog"
-  ShowGoalDialogsInAutoPlay -> "show goal dialogs when running in autoplay"
   LoadTestingScenarios -> "load Testing folder in scenarios menu"
 
 readDebugOption :: String -> Maybe DebugOption
diff --git a/src/swarm-tui/Swarm/TUI/Model/Dialog.hs b/src/swarm-tui/Swarm/TUI/Model/Dialog.hs
new file mode 100644
index 000000000..95baff1f9
--- /dev/null
+++ b/src/swarm-tui/Swarm/TUI/Model/Dialog.hs
@@ -0,0 +1,9 @@
+module Swarm.TUI.Model.Dialog (
+  module Swarm.TUI.Model.Dialog.Goal,
+  module Swarm.TUI.Model.Dialog.Popup,
+  module Swarm.TUI.Model.Dialog.Structure,
+) where
+
+import Swarm.TUI.Model.Dialog.Goal
+import Swarm.TUI.Model.Dialog.Popup
+import Swarm.TUI.Model.Dialog.Structure
diff --git a/src/swarm-tui/Swarm/TUI/Model/Goal.hs b/src/swarm-tui/Swarm/TUI/Model/Dialog/Goal.hs
similarity index 98%
rename from src/swarm-tui/Swarm/TUI/Model/Goal.hs
rename to src/swarm-tui/Swarm/TUI/Model/Dialog/Goal.hs
index bce891ff5..c02ff33ea 100644
--- a/src/swarm-tui/Swarm/TUI/Model/Goal.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/Dialog/Goal.hs
@@ -5,7 +5,7 @@
 -- SPDX-License-Identifier: BSD-3-Clause
 --
 -- A UI-centric model for Objective presentation.
-module Swarm.TUI.Model.Goal where
+module Swarm.TUI.Model.Dialog.Goal where
 
 import Brick.Focus
 import Brick.Widgets.List qualified as BL
diff --git a/src/swarm-tui/Swarm/TUI/Model/Popup.hs b/src/swarm-tui/Swarm/TUI/Model/Dialog/Popup.hs
similarity index 98%
rename from src/swarm-tui/Swarm/TUI/Model/Popup.hs
rename to src/swarm-tui/Swarm/TUI/Model/Dialog/Popup.hs
index 4f0666ba4..15ee84d52 100644
--- a/src/swarm-tui/Swarm/TUI/Model/Popup.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/Dialog/Popup.hs
@@ -1,7 +1,7 @@
 {-# LANGUAGE PatternSynonyms #-}
 {-# LANGUAGE TemplateHaskell #-}
 
-module Swarm.TUI.Model.Popup (
+module Swarm.TUI.Model.Dialog.Popup (
   -- * Popup types
   Popup (..),
 
diff --git a/src/swarm-tui/Swarm/TUI/Model/Structure.hs b/src/swarm-tui/Swarm/TUI/Model/Dialog/Structure.hs
similarity index 95%
rename from src/swarm-tui/Swarm/TUI/Model/Structure.hs
rename to src/swarm-tui/Swarm/TUI/Model/Dialog/Structure.hs
index 73a8c23d5..6635524ee 100644
--- a/src/swarm-tui/Swarm/TUI/Model/Structure.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/Dialog/Structure.hs
@@ -5,7 +5,7 @@
 -- SPDX-License-Identifier: BSD-3-Clause
 --
 -- A UI-centric model for Structure presentation.
-module Swarm.TUI.Model.Structure where
+module Swarm.TUI.Model.Dialog.Structure where
 
 import Brick.Focus
 import Brick.Widgets.List qualified as BL
diff --git a/src/swarm-tui/Swarm/TUI/Model/StateUpdate.hs b/src/swarm-tui/Swarm/TUI/Model/StateUpdate.hs
index ab6c9f493..6b8361d73 100644
--- a/src/swarm-tui/Swarm/TUI/Model/StateUpdate.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/StateUpdate.hs
@@ -82,11 +82,10 @@ import Swarm.TUI.Launch.Model (toSerializableParams)
 import Swarm.TUI.Model
 import Swarm.TUI.Model.Achievements
 import Swarm.TUI.Model.DebugOption (DebugOption (LoadTestingScenarios))
-import Swarm.TUI.Model.Goal (emptyGoalDisplay)
+import Swarm.TUI.Model.Dialog
 import Swarm.TUI.Model.KeyBindings
 import Swarm.TUI.Model.Name
 import Swarm.TUI.Model.Repl
-import Swarm.TUI.Model.Structure
 import Swarm.TUI.Model.UI
 import Swarm.TUI.View.Attribute.Attr (getWorldAttrName, swarmAttrMap)
 import Swarm.TUI.View.Attribute.CustomStyling (toAttrPair)
@@ -127,8 +126,15 @@ initPersistentState ::
   m (RuntimeState, UIState, KeyEventHandlingState)
 initPersistentState opts@(AppOpts {..}) = do
   (warnings :: Seq SystemFailure, (initRS, initUI, initKs)) <- runAccum mempty $ do
-    rs <- initRuntimeState $ RuntimeOptions pausedAtStart (Set.member LoadTestingScenarios debugOptions)
-    ui <- initUIState speed (not (skipMenu opts)) debugOptions
+    rs <-
+      initRuntimeState
+        RuntimeOptions
+          { startPaused = pausedAtStart
+          , pauseOnObjectiveCompletion = autoShowObjectives
+          , loadTestScenarios = Set.member LoadTestingScenarios debugOptions
+          }
+    let showMainMenu = not (skipMenu opts)
+    ui <- initUIState UIInitOptions {..}
     ks <- initKeyHandlingState
     return (rs, ui, ks)
   let initRS' = addWarnings initRS (F.toList warnings)
@@ -257,7 +263,7 @@ scenarioToUIState isAutoplaying siPair@(scenario, _) gs u = do
               fst siPair ^. scenarioLandscape . scenarioAttrs
           )
           swarmAttrMap
-      & uiGameplay . uiGoal .~ emptyGoalDisplay
+      & uiGameplay . uiDialogs . uiGoal .~ emptyGoalDisplay
       & uiGameplay . uiIsAutoPlay .~ isAutoplaying
       & uiGameplay . uiFocusRing .~ initFocusRing
       & uiGameplay . uiInventory . uiInventorySearch .~ Nothing
@@ -271,7 +277,7 @@ scenarioToUIState isAutoplaying siPair@(scenario, _) gs u = do
       & uiGameplay . uiTiming . lastFrameTime .~ curTime
       & uiGameplay . uiWorldEditor . EM.entityPaintList %~ BL.listReplace entityList Nothing
       & uiGameplay . uiWorldEditor . EM.editingBounds . EM.boundsRect %~ setNewBounds
-      & uiGameplay . uiStructure
+      & uiGameplay . uiDialogs . uiStructure
         .~ StructureDisplay
           (SR.makeListWidget . M.elems $ gs ^. discovery . structureRecognition . automatons . originalStructureDefinitions)
           (focusSetCurrent (StructureWidgets StructuresList) $ focusRing $ map StructureWidgets enumerate)
diff --git a/src/swarm-tui/Swarm/TUI/Model/UI.hs b/src/swarm-tui/Swarm/TUI/Model/UI.hs
index 26faf7cda..72ef5d12f 100644
--- a/src/swarm-tui/Swarm/TUI/Model/UI.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/UI.hs
@@ -31,7 +31,9 @@ module Swarm.TUI.Model.UI (
   uiModal,
   uiGoal,
   uiStructure,
+  uiDialogs,
   uiIsAutoPlay,
+  uiAutoShowObjectives,
   uiAchievements,
   lgTicksPerSecond,
   lastFrameTime,
@@ -56,6 +58,7 @@ module Swarm.TUI.Model.UI (
   initFocusRing,
   defaultInitLgTicksPerSecond,
   initUIState,
+  UIInitOptions (..),
 ) where
 
 import Brick (AttrMap)
@@ -88,12 +91,10 @@ import Swarm.TUI.Inventory.Sorting
 import Swarm.TUI.Launch.Model
 import Swarm.TUI.Launch.Prep
 import Swarm.TUI.Model.DebugOption (DebugOption)
-import Swarm.TUI.Model.Goal
+import Swarm.TUI.Model.Dialog
 import Swarm.TUI.Model.Menu
 import Swarm.TUI.Model.Name
-import Swarm.TUI.Model.Popup
 import Swarm.TUI.Model.Repl
-import Swarm.TUI.Model.Structure
 import Swarm.TUI.View.Attribute.Attr (swarmAttrMap)
 import Swarm.Util
 import Swarm.Util.Lens (makeLensesExcluding, makeLensesNoSigs)
@@ -194,6 +195,28 @@ uiShowZero :: Lens' UIInventory Bool
 -- | Whether the Inventory ui panel should update
 uiInventoryShouldUpdate :: Lens' UIInventory Bool
 
+-- | State that backs various modal dialogs
+data UIDialogs = UIDialogs
+  { _uiModal :: Maybe Modal
+  , _uiGoal :: GoalDisplay
+  , _uiStructure :: StructureDisplay
+  }
+
+-- * Lenses for UIDialogs
+
+makeLensesNoSigs ''UIDialogs
+
+-- | When this is 'Just', it represents a modal to be displayed on
+--   top of the UI, e.g. for the Help screen.
+uiModal :: Lens' UIDialogs (Maybe Modal)
+
+-- | Status of the scenario goal: whether there is one, and whether it
+--   has been displayed to the user initially.
+uiGoal :: Lens' UIDialogs GoalDisplay
+
+-- | Definition and status of a recognizable structure
+uiStructure :: Lens' UIDialogs StructureDisplay
+
 -- | The main record holding the gameplay UI state.  For access to the fields,
 -- see the lenses below.
 data UIGameplay = UIGameplay
@@ -203,10 +226,9 @@ data UIGameplay = UIGameplay
   , _uiREPL :: REPLState
   , _uiInventory :: UIInventory
   , _uiScrollToEnd :: Bool
-  , _uiModal :: Maybe Modal
-  , _uiGoal :: GoalDisplay
-  , _uiStructure :: StructureDisplay
+  , _uiDialogs :: UIDialogs
   , _uiIsAutoPlay :: Bool
+  , _uiAutoShowObjectives :: Bool
   , _uiShowREPL :: Bool
   , _uiShowDebug :: Bool
   , _uiHideRobotsUntil :: TimeSpec
@@ -241,22 +263,15 @@ uiREPL :: Lens' UIGameplay REPLState
 --   (used when a new log message is appended).
 uiScrollToEnd :: Lens' UIGameplay Bool
 
--- | When this is 'Just', it represents a modal to be displayed on
---   top of the UI, e.g. for the Help screen.
-uiModal :: Lens' UIGameplay (Maybe Modal)
-
--- | Status of the scenario goal: whether there is one, and whether it
---   has been displayed to the user initially.
-uiGoal :: Lens' UIGameplay GoalDisplay
-
--- | Definition and status of a recognizable structure
-uiStructure :: Lens' UIGameplay StructureDisplay
+-- | State that backs various modal dialogs
+uiDialogs :: Lens' UIGameplay UIDialogs
 
--- | When running with @--autoplay@, suppress the goal dialogs.
---
--- For development, the @--cheat@ flag shows goals again.
+-- | When running with @--autoplay@ the progress will not be saved.
 uiIsAutoPlay :: Lens' UIGameplay Bool
 
+-- | Do not open objectives modals on objective completion.
+uiAutoShowObjectives :: Lens' UIGameplay Bool
+
 -- | A toggle to expand or collapse the REPL by pressing @Ctrl-k@
 uiShowREPL :: Lens' UIGameplay Bool
 
@@ -336,6 +351,14 @@ initFocusRing = focusRing $ map FocusablePanel enumerate
 defaultInitLgTicksPerSecond :: Int
 defaultInitLgTicksPerSecond = 4 -- 2^4 = 16 ticks / second
 
+data UIInitOptions = UIInitOptions
+  { speed :: Int
+  , showMainMenu :: Bool
+  , autoShowObjectives :: Bool
+  , debugOptions :: Set DebugOption
+  }
+  deriving (Eq, Show)
+
 -- | Initialize the UI state.  This needs to be in the IO monad since
 --   it involves reading a REPL history file, getting the current
 --   time, and loading text files from the data directory.  The @Bool@
@@ -345,11 +368,9 @@ initUIState ::
   ( Has (Accum (Seq SystemFailure)) sig m
   , Has (Lift IO) sig m
   ) =>
-  Int ->
-  Bool ->
-  Set DebugOption ->
+  UIInitOptions ->
   m UIState
-initUIState speedFactor showMainMenu debug = do
+initUIState UIInitOptions {..} = do
   historyT <- sendIO $ readFileMayT =<< getSwarmHistoryPath False
   let history = maybe [] (map mkREPLSubmission . T.lines) historyT
   startTime <- sendIO $ getTime Monotonic
@@ -359,7 +380,7 @@ initUIState speedFactor showMainMenu debug = do
     UIState
       { _uiMenu = if showMainMenu then MainMenu (mainMenu NewGame) else NoMenu
       , _uiPlaying = not showMainMenu
-      , _uiDebugOptions = debug
+      , _uiDebugOptions = debugOptions
       , _uiLaunchConfig = launchConfigPanel
       , _uiAchievements = M.fromList $ map (view achievement &&& id) achievements
       , _uiAttrMap = swarmAttrMap
@@ -379,16 +400,20 @@ initUIState speedFactor showMainMenu debug = do
                   , _uiInventoryShouldUpdate = False
                   }
             , _uiScrollToEnd = False
-            , _uiModal = Nothing
-            , _uiGoal = emptyGoalDisplay
-            , _uiStructure = emptyStructureDisplay
+            , _uiDialogs =
+                UIDialogs
+                  { _uiModal = Nothing
+                  , _uiGoal = emptyGoalDisplay
+                  , _uiStructure = emptyStructureDisplay
+                  }
             , _uiIsAutoPlay = False
+            , _uiAutoShowObjectives = autoShowObjectives
             , _uiTiming =
                 UITiming
                   { _uiShowFPS = False
                   , _uiTPF = 0
                   , _uiFPS = 0
-                  , _lgTicksPerSecond = speedFactor
+                  , _lgTicksPerSecond = speed
                   , _lastFrameTime = startTime
                   , _accumulatedTime = 0
                   , _lastInfoTime = 0
diff --git a/src/swarm-tui/Swarm/TUI/View.hs b/src/swarm-tui/Swarm/TUI/View.hs
index 5242e34a7..b0d6286c8 100644
--- a/src/swarm-tui/Swarm/TUI/View.hs
+++ b/src/swarm-tui/Swarm/TUI/View.hs
@@ -54,7 +54,6 @@ import Data.Bits (shiftL, shiftR, (.&.))
 import Data.Foldable (toList)
 import Data.Foldable qualified as F
 import Data.Functor (($>))
-import Data.IntMap qualified as IM
 import Data.List (intersperse)
 import Data.List qualified as L
 import Data.List.Extra (enumerate)
@@ -69,11 +68,8 @@ import Data.Set qualified as Set (toList)
 import Data.Text (Text)
 import Data.Text qualified as T
 import Data.Time (NominalDiffTime, defaultTimeLocale, formatTime)
-import Linear
 import Network.Wai.Handler.Warp (Port)
-import Numeric (showFFloat)
 import Swarm.Constant
-import Swarm.Game.CESK (CESK (..))
 import Swarm.Game.Device (commandCost, commandsForDeviceCaps, enabledCommands, getMap, ingredients)
 import Swarm.Game.Display
 import Swarm.Game.Entity as E
@@ -82,7 +78,6 @@ import Swarm.Game.Land
 import Swarm.Game.Location
 import Swarm.Game.Recipe
 import Swarm.Game.Robot
-import Swarm.Game.Robot.Activity
 import Swarm.Game.Robot.Concrete
 import Swarm.Game.Scenario (
   scenarioAuthor,
@@ -114,7 +109,7 @@ import Swarm.Game.State.Landscape
 import Swarm.Game.State.Robot
 import Swarm.Game.State.Runtime
 import Swarm.Game.State.Substate
-import Swarm.Game.Tick (TickNumber (..), addTicks)
+import Swarm.Game.Tick (TickNumber (..))
 import Swarm.Game.Universe
 import Swarm.Game.World.Coords
 import Swarm.Game.World.Gen (Seed)
@@ -134,8 +129,8 @@ import Swarm.TUI.Launch.Model
 import Swarm.TUI.Launch.View
 import Swarm.TUI.Model
 import Swarm.TUI.Model.DebugOption (DebugOption (..))
+import Swarm.TUI.Model.Dialog.Goal (goalsContent, hasAnythingToShow)
 import Swarm.TUI.Model.Event qualified as SE
-import Swarm.TUI.Model.Goal (goalsContent, hasAnythingToShow)
 import Swarm.TUI.Model.KeyBindings (handlerNameKeysDescription)
 import Swarm.TUI.Model.Repl
 import Swarm.TUI.Model.UI
@@ -146,12 +141,10 @@ import Swarm.TUI.View.CellDisplay
 import Swarm.TUI.View.Logo
 import Swarm.TUI.View.Objective qualified as GR
 import Swarm.TUI.View.Popup
+import Swarm.TUI.View.Robot
 import Swarm.TUI.View.Structure qualified as SR
 import Swarm.TUI.View.Util as VU
 import Swarm.Util
-import Swarm.Util.UnitInterval
-import Swarm.Util.WindowedCounter qualified as WC
-import System.Clock (TimeSpec (..))
 import Text.Printf
 import Text.Wrap
 import Witch (into)
@@ -507,14 +500,6 @@ drawGameUI s =
           )
     ]
 
-renderCoordsString :: Cosmic Location -> String
-renderCoordsString (Cosmic sw coords) =
-  unwords $ VU.locationToString coords : suffix
- where
-  suffix = case sw of
-    DefaultRootSubworld -> []
-    SubworldName swName -> ["in", T.unpack swName]
-
 drawWorldCursorInfo :: WorldOverdraw -> GameState -> Cosmic Coords -> Widget Name
 drawWorldCursorInfo worldEditor g cCoords =
   case getStatic g coords of
@@ -613,13 +598,13 @@ replHeight = 10
 
 -- | Hide the cursor when a modal is set
 chooseCursor :: AppState -> [CursorLocation n] -> Maybe (CursorLocation n)
-chooseCursor s locs = case s ^. uiState . uiGameplay . uiModal of
+chooseCursor s locs = case s ^. uiState . uiGameplay . uiDialogs . uiModal of
   Nothing -> showFirstCursor s locs
   Just _ -> Nothing
 
 -- | Draw a dialog window, if one should be displayed right now.
 drawDialog :: AppState -> Widget Name
-drawDialog s = case s ^. uiState . uiGameplay . uiModal of
+drawDialog s = case s ^. uiState . uiGameplay . uiDialogs . uiModal of
   Just (Modal mt d) -> renderDialog d $ case mt of
     GoalModal -> drawModal s mt
     _ -> maybeScroll ModalViewport $ drawModal s mt
@@ -633,7 +618,7 @@ drawModal s = \case
   RecipesModal -> availableListWidget (s ^. gameState) RecipeList
   CommandsModal -> commandsListWidget (s ^. gameState)
   MessagesModal -> availableListWidget (s ^. gameState) MessageList
-  StructuresModal -> SR.renderStructuresDisplay (s ^. gameState) (s ^. uiState . uiGameplay . uiStructure)
+  StructuresModal -> SR.renderStructuresDisplay (s ^. gameState) (s ^. uiState . uiGameplay . uiDialogs . uiStructure)
   ScenarioEndModal outcome ->
     padBottom (Pad 1) $
       vBox $
@@ -650,7 +635,7 @@ drawModal s = \case
   DescriptionModal e -> descriptionWidget s e
   QuitModal -> padBottom (Pad 1) $ hCenter $ txt (quitMsg (s ^. uiState . uiMenu))
   GoalModal ->
-    GR.renderGoalsDisplay (s ^. uiState . uiGameplay . uiGoal) $
+    GR.renderGoalsDisplay (s ^. uiState . uiGameplay . uiDialogs . uiGoal) $
       view (scenarioOperation . scenarioDescription) . fst <$> s ^. uiState . uiGameplay . scenarioRef
   KeepPlayingModal ->
     padLeftRight 1 $
@@ -660,133 +645,6 @@ drawModal s = \case
   TerrainPaletteModal -> EV.drawTerrainSelector s
   EntityPaletteModal -> EV.drawEntityPaintSelector s
 
--- | Render the percentage of ticks that this robot was active.
--- This indicator can take some time to "warm up" and stabilize
--- due to the sliding window.
---
--- == Use of previous tick
--- The 'Swarm.Game.Step.gameTick' function runs all robots, then increments the current tick.
--- So at the time we are rendering a frame, the current tick will always be
--- strictly greater than any ticks stored in the 'WC.WindowedCounter' for any robot;
--- hence 'WC.getOccupancy' will never be @1@ if we use the current tick directly as
--- obtained from the 'ticks' function.
--- So we "rewind" it to the previous tick for the purpose of this display.
-renderDutyCycle :: GameState -> Robot -> Widget Name
-renderDutyCycle gs robot =
-  withAttr dutyCycleAttr . str . flip (showFFloat (Just 1)) "%" $ dutyCyclePercentage
- where
-  curTicks = gs ^. temporal . ticks
-  window = robot ^. activityCounts . activityWindow
-
-  -- Rewind to previous tick
-  latestRobotTick = addTicks (-1) curTicks
-  dutyCycleRatio = WC.getOccupancy latestRobotTick window
-
-  dutyCycleAttr = safeIndex dutyCycleRatio meterAttributeNames
-
-  dutyCyclePercentage :: Double
-  dutyCyclePercentage = 100 * getValue dutyCycleRatio
-
-robotsListWidget :: AppState -> Widget Name
-robotsListWidget s = hCenter table
- where
-  table =
-    BT.renderTable
-      . BT.columnBorders False
-      . BT.setDefaultColAlignment BT.AlignCenter
-      -- Inventory count is right aligned
-      . BT.alignRight 4
-      . BT.table
-      $ map (padLeftRight 1) <$> (headers : robotsTable)
-  headings =
-    [ "Name"
-    , "Age"
-    , "Pos"
-    , "Items"
-    , "Status"
-    , "Actns"
-    , "Cmds"
-    , "Cycles"
-    , "Activity"
-    , "Log"
-    ]
-  headers = withAttr robotAttr . txt <$> applyWhen debugRID ("ID" :) headings
-  robotsTable = mkRobotRow <$> robots
-  mkRobotRow robot =
-    applyWhen debugRID (idWidget :) cells
-   where
-    cells =
-      [ nameWidget
-      , str ageStr
-      , locWidget
-      , padRight (Pad 1) (str $ show rInvCount)
-      , statusWidget
-      , str $ show $ robot ^. activityCounts . tangibleCommandCount
-      , -- TODO(#1341): May want to expose the details of this histogram in
-        -- a per-robot pop-up
-        str . show . sum . M.elems $ robot ^. activityCounts . commandsHistogram
-      , str $ show $ robot ^. activityCounts . lifetimeStepCount
-      , renderDutyCycle (s ^. gameState) robot
-      , txt rLog
-      ]
-
-    idWidget = str $ show $ robot ^. robotID
-    nameWidget =
-      hBox
-        [ renderDisplay (robot ^. robotDisplay)
-        , highlightSystem . txt $ " " <> robot ^. robotName
-        ]
-
-    highlightSystem = if robot ^. systemRobot then withAttr highlightAttr else id
-
-    ageStr
-      | age < 60 = show age <> "sec"
-      | age < 3600 = show (age `div` 60) <> "min"
-      | age < 3600 * 24 = show (age `div` 3600) <> "hour"
-      | otherwise = show (age `div` 3600 * 24) <> "day"
-     where
-      TimeSpec createdAtSec _ = robot ^. robotCreatedAt
-      TimeSpec nowSec _ = s ^. uiState . uiGameplay . uiTiming . lastFrameTime
-      age = nowSec - createdAtSec
-
-    rInvCount = sum $ map fst . E.elems $ robot ^. robotEntity . entityInventory
-    rLog
-      | robot ^. robotLogUpdated = "x"
-      | otherwise = " "
-
-    locWidget = hBox [worldCell, str $ " " <> locStr]
-     where
-      rCoords = fmap locToCoords rLoc
-      rLoc = robot ^. robotLocation
-      worldCell =
-        drawLoc
-          (s ^. uiState . uiGameplay)
-          g
-          rCoords
-      locStr = renderCoordsString rLoc
-
-    statusWidget = case robot ^. machine of
-      Waiting {} -> txt "waiting"
-      _
-        | isActive robot -> withAttr notifAttr $ txt "busy"
-        | otherwise -> withAttr greenAttr $ txt "idle"
-
-  basePos :: Point V2 Double
-  basePos = realToFrac <$> fromMaybe origin (g ^? baseRobot . robotLocation . planar)
-  -- Keep the base and non system robot (e.g. no seed)
-  isRelevant robot = robot ^. robotID == 0 || not (robot ^. systemRobot)
-  -- Keep the robot that are less than 32 unit away from the base
-  isNear robot = creative || distance (realToFrac <$> robot ^. robotLocation . planar) basePos < 32
-  robots :: [Robot]
-  robots =
-    filter (\robot -> debugAllRobots || (isRelevant robot && isNear robot))
-      . IM.elems
-      $ g ^. robotInfo . robotMap
-  creative = g ^. creativeMode
-  debugRID = s ^. uiState . uiDebugOptions . Lens.contains ListRobotIDs
-  debugAllRobots = s ^. uiState . uiDebugOptions . Lens.contains ListAllRobots
-  g = s ^. gameState
-
 helpWidget :: Seed -> Maybe Port -> KeyEventHandlingState -> Widget Name
 helpWidget theSeed mport keyState =
   padLeftRight 2 . vBox $ padTop (Pad 1) <$> [info, helpKeys, tips]
@@ -1013,7 +871,7 @@ drawKeyMenu s =
   creative = s ^. gameState . creativeMode
   showCreative = s ^. uiState . uiDebugOptions . Lens.contains ToggleCreative
   showEditor = s ^. uiState . uiDebugOptions . Lens.contains ToggleWorldEditor
-  goal = hasAnythingToShow $ s ^. uiState . uiGameplay . uiGoal . goalsContent
+  goal = hasAnythingToShow $ s ^. uiState . uiGameplay . uiDialogs . uiGoal . goalsContent
   showZero = s ^. uiState . uiGameplay . uiInventory . uiShowZero
   inventorySort = s ^. uiState . uiGameplay . uiInventory . uiInventorySort
   inventorySearch = s ^. uiState . uiGameplay . uiInventory . uiInventorySearch
diff --git a/src/swarm-tui/Swarm/TUI/View/Objective.hs b/src/swarm-tui/Swarm/TUI/View/Objective.hs
index a1a8efb6d..8d0224c9a 100644
--- a/src/swarm-tui/Swarm/TUI/View/Objective.hs
+++ b/src/swarm-tui/Swarm/TUI/View/Objective.hs
@@ -20,7 +20,7 @@ import Swarm.Game.Scenario.Objective
 import Swarm.Language.Syntax (Syntax)
 import Swarm.Language.Text.Markdown (Document)
 import Swarm.Language.Text.Markdown qualified as Markdown
-import Swarm.TUI.Model.Goal
+import Swarm.TUI.Model.Dialog.Goal
 import Swarm.TUI.Model.Name
 import Swarm.TUI.View.Attribute.Attr
 import Swarm.TUI.View.Util
diff --git a/src/swarm-tui/Swarm/TUI/View/Popup.hs b/src/swarm-tui/Swarm/TUI/View/Popup.hs
index 28cb197a8..96b30e62f 100644
--- a/src/swarm-tui/Swarm/TUI/View/Popup.hs
+++ b/src/swarm-tui/Swarm/TUI/View/Popup.hs
@@ -15,8 +15,8 @@ import Swarm.Game.Achievement.Definitions (title)
 import Swarm.Game.Achievement.Description (describe)
 import Swarm.Language.Syntax (constInfo, syntax)
 import Swarm.TUI.Model (AppState, Name, uiState)
+import Swarm.TUI.Model.Dialog.Popup (Popup (..), currentPopup, popupFrames)
 import Swarm.TUI.Model.Event qualified as SE
-import Swarm.TUI.Model.Popup (Popup (..), currentPopup, popupFrames)
 import Swarm.TUI.Model.UI (uiPopups)
 import Swarm.TUI.View.Attribute.Attr (notifAttr)
 import Swarm.TUI.View.Util (bindingText)
diff --git a/src/swarm-tui/Swarm/TUI/View/Robot.hs b/src/swarm-tui/Swarm/TUI/View/Robot.hs
new file mode 100644
index 000000000..93ff2415b
--- /dev/null
+++ b/src/swarm-tui/Swarm/TUI/View/Robot.hs
@@ -0,0 +1,167 @@
+{-# LANGUAGE OverloadedStrings #-}
+{-# LANGUAGE NoGeneralizedNewtypeDeriving #-}
+
+-- |
+-- SPDX-License-Identifier: BSD-3-Clause
+--
+-- A UI-centric model for presentation of Robot details.
+module Swarm.TUI.View.Robot where
+
+import Brick hiding (Direction, Location)
+import Brick.Widgets.Center (hCenter)
+import Brick.Widgets.Table qualified as BT
+import Control.Lens as Lens hiding (Const, from)
+import Data.IntMap qualified as IM
+import Data.Map qualified as M
+import Data.Maybe (fromMaybe)
+import Linear
+import Numeric (showFFloat)
+import Swarm.Game.CESK (CESK (..))
+import Swarm.Game.Entity as E
+import Swarm.Game.Location
+import Swarm.Game.Robot
+import Swarm.Game.Robot.Activity
+import Swarm.Game.Robot.Concrete
+import Swarm.Game.State
+import Swarm.Game.State.Robot
+import Swarm.Game.State.Substate
+import Swarm.Game.Tick (addTicks)
+import Swarm.Game.Universe
+import Swarm.Game.World.Coords
+import Swarm.TUI.Model
+import Swarm.TUI.Model.DebugOption (DebugOption (..))
+import Swarm.TUI.Model.UI
+import Swarm.TUI.View.Attribute.Attr
+import Swarm.TUI.View.CellDisplay
+import Swarm.TUI.View.Util as VU
+import Swarm.Util
+import Swarm.Util.UnitInterval
+import Swarm.Util.WindowedCounter qualified as WC
+import System.Clock (TimeSpec (..))
+
+-- | Render the percentage of ticks that this robot was active.
+-- This indicator can take some time to "warm up" and stabilize
+-- due to the sliding window.
+--
+-- == Use of previous tick
+-- The 'Swarm.Game.Step.gameTick' function runs all robots, then increments the current tick.
+-- So at the time we are rendering a frame, the current tick will always be
+-- strictly greater than any ticks stored in the 'WC.WindowedCounter' for any robot;
+-- hence 'WC.getOccupancy' will never be @1@ if we use the current tick directly as
+-- obtained from the 'ticks' function.
+-- So we "rewind" it to the previous tick for the purpose of this display.
+renderDutyCycle :: GameState -> Robot -> Widget Name
+renderDutyCycle gs robot =
+  withAttr dutyCycleAttr . str . flip (showFFloat (Just 1)) "%" $ dutyCyclePercentage
+ where
+  curTicks = gs ^. temporal . ticks
+  window = robot ^. activityCounts . activityWindow
+
+  -- Rewind to previous tick
+  latestRobotTick = addTicks (-1) curTicks
+  dutyCycleRatio = WC.getOccupancy latestRobotTick window
+
+  dutyCycleAttr = safeIndex dutyCycleRatio meterAttributeNames
+
+  dutyCyclePercentage :: Double
+  dutyCyclePercentage = 100 * getValue dutyCycleRatio
+
+robotsListWidget :: AppState -> Widget Name
+robotsListWidget s = hCenter table
+ where
+  table =
+    BT.renderTable
+      . BT.columnBorders False
+      . BT.setDefaultColAlignment BT.AlignCenter
+      -- Inventory count is right aligned
+      . BT.alignRight 4
+      . BT.table
+      $ map (padLeftRight 1) <$> (headers : robotsTable)
+  headings =
+    [ "Name"
+    , "Age"
+    , "Pos"
+    , "Items"
+    , "Status"
+    , "Actns"
+    , "Cmds"
+    , "Cycles"
+    , "Activity"
+    , "Log"
+    ]
+  headers = withAttr robotAttr . txt <$> applyWhen debugRID ("ID" :) headings
+  robotsTable = mkRobotRow <$> robots
+  mkRobotRow robot =
+    applyWhen debugRID (idWidget :) cells
+   where
+    cells =
+      [ nameWidget
+      , str ageStr
+      , locWidget
+      , padRight (Pad 1) (str $ show rInvCount)
+      , statusWidget
+      , str $ show $ robot ^. activityCounts . tangibleCommandCount
+      , -- TODO(#1341): May want to expose the details of this histogram in
+        -- a per-robot pop-up
+        str . show . sum . M.elems $ robot ^. activityCounts . commandsHistogram
+      , str $ show $ robot ^. activityCounts . lifetimeStepCount
+      , renderDutyCycle (s ^. gameState) robot
+      , txt rLog
+      ]
+
+    idWidget = str $ show $ robot ^. robotID
+    nameWidget =
+      hBox
+        [ renderDisplay (robot ^. robotDisplay)
+        , highlightSystem . txt $ " " <> robot ^. robotName
+        ]
+
+    highlightSystem = if robot ^. systemRobot then withAttr highlightAttr else id
+
+    ageStr
+      | age < 60 = show age <> "sec"
+      | age < 3600 = show (age `div` 60) <> "min"
+      | age < 3600 * 24 = show (age `div` 3600) <> "hour"
+      | otherwise = show (age `div` 3600 * 24) <> "day"
+     where
+      TimeSpec createdAtSec _ = robot ^. robotCreatedAt
+      TimeSpec nowSec _ = s ^. uiState . uiGameplay . uiTiming . lastFrameTime
+      age = nowSec - createdAtSec
+
+    rInvCount = sum $ map fst . E.elems $ robot ^. robotEntity . entityInventory
+    rLog
+      | robot ^. robotLogUpdated = "x"
+      | otherwise = " "
+
+    locWidget = hBox [worldCell, str $ " " <> locStr]
+     where
+      rCoords = fmap locToCoords rLoc
+      rLoc = robot ^. robotLocation
+      worldCell =
+        drawLoc
+          (s ^. uiState . uiGameplay)
+          g
+          rCoords
+      locStr = renderCoordsString rLoc
+
+    statusWidget = case robot ^. machine of
+      Waiting {} -> txt "waiting"
+      _
+        | isActive robot -> withAttr notifAttr $ txt "busy"
+        | otherwise -> withAttr greenAttr $ txt "idle"
+
+  basePos :: Point V2 Double
+  basePos = realToFrac <$> fromMaybe origin (g ^? baseRobot . robotLocation . planar)
+  -- Keep the base and non system robot (e.g. no seed)
+  isRelevant robot = robot ^. robotID == 0 || not (robot ^. systemRobot)
+  -- Keep the robot that are less than 32 unit away from the base
+  isNear robot = creative || distance (realToFrac <$> robot ^. robotLocation . planar) basePos < 32
+  robots :: [Robot]
+  robots =
+    filter (\robot -> debugAllRobots || (isRelevant robot && isNear robot))
+      . IM.elems
+      $ g ^. robotInfo . robotMap
+  creative = g ^. creativeMode
+  debugRID = s ^. uiState . uiDebugOptions . Lens.contains ListRobotIDs
+  debugAllRobots = s ^. uiState . uiDebugOptions . Lens.contains ListAllRobots
+  g = s ^. gameState
diff --git a/src/swarm-tui/Swarm/TUI/View/Structure.hs b/src/swarm-tui/Swarm/TUI/View/Structure.hs
index 24d458114..11a903ee3 100644
--- a/src/swarm-tui/Swarm/TUI/View/Structure.hs
+++ b/src/swarm-tui/Swarm/TUI/View/Structure.hs
@@ -32,8 +32,8 @@ import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
 import Swarm.Game.State
 import Swarm.Game.State.Substate (structureRecognition)
 import Swarm.Language.Syntax.Direction (directionJsonModifier)
+import Swarm.TUI.Model.Dialog.Structure
 import Swarm.TUI.Model.Name
-import Swarm.TUI.Model.Structure
 import Swarm.TUI.View.Attribute.Attr
 import Swarm.TUI.View.CellDisplay
 import Swarm.TUI.View.Util
diff --git a/src/swarm-tui/Swarm/TUI/View/Util.hs b/src/swarm-tui/Swarm/TUI/View/Util.hs
index 69f0b2869..63c3fe39e 100644
--- a/src/swarm-tui/Swarm/TUI/View/Util.hs
+++ b/src/swarm-tui/Swarm/TUI/View/Util.hs
@@ -25,6 +25,7 @@ import Swarm.Game.State
 import Swarm.Game.State.Landscape
 import Swarm.Game.State.Substate
 import Swarm.Game.Terrain
+import Swarm.Game.Universe
 import Swarm.Language.Pretty (prettyTextLine)
 import Swarm.Language.Syntax (Syntax)
 import Swarm.Language.Text.Markdown qualified as Markdown
@@ -255,3 +256,11 @@ bindingText s e = maybe "" ppBindingShort b
     Binding V.KLeft m | null m -> "←"
     Binding V.KRight m | null m -> "→"
     bi -> ppBinding bi
+
+renderCoordsString :: Cosmic Location -> String
+renderCoordsString (Cosmic sw coords) =
+  unwords $ locationToString coords : suffix
+ where
+  suffix = case sw of
+    DefaultRootSubworld -> []
+    SubworldName swName -> ["in", T.unpack swName]
diff --git a/src/swarm-web/Swarm/Web.hs b/src/swarm-web/Swarm/Web.hs
index 4668876bf..9150939f5 100644
--- a/src/swarm-web/Swarm/Web.hs
+++ b/src/swarm-web/Swarm/Web.hs
@@ -78,7 +78,7 @@ import Swarm.Game.Step.Path.Type
 import Swarm.Language.Pipeline (processTermEither)
 import Swarm.Language.Pretty (prettyTextLine)
 import Swarm.TUI.Model hiding (SwarmKeyDispatchers (..))
-import Swarm.TUI.Model.Goal
+import Swarm.TUI.Model.Dialog.Goal
 import Swarm.TUI.Model.Repl (REPLHistItem, replHistory, replSeq)
 import Swarm.TUI.Model.UI
 import Swarm.Util.RingBuffer
@@ -200,7 +200,7 @@ goalsGraphHandler appStateRef = do
 uiGoalHandler :: IO AppState -> Handler GoalTracking
 uiGoalHandler appStateRef = do
   appState <- liftIO appStateRef
-  return $ appState ^. uiState . uiGameplay . uiGoal . goalsContent
+  return $ appState ^. uiState . uiGameplay . uiDialogs . uiGoal . goalsContent
 
 goalsHandler :: IO AppState -> Handler WinCondition
 goalsHandler appStateRef = do
diff --git a/swarm.cabal b/swarm.cabal
index caef9b22d..ba9d40f38 100644
--- a/swarm.cabal
+++ b/swarm.cabal
@@ -1020,15 +1020,16 @@ library swarm-tui
     Swarm.TUI.Model
     Swarm.TUI.Model.Achievements
     Swarm.TUI.Model.DebugOption
+    Swarm.TUI.Model.Dialog
+    Swarm.TUI.Model.Dialog.Goal
+    Swarm.TUI.Model.Dialog.Popup
+    Swarm.TUI.Model.Dialog.Structure
     Swarm.TUI.Model.Event
-    Swarm.TUI.Model.Goal
     Swarm.TUI.Model.KeyBindings
     Swarm.TUI.Model.Menu
     Swarm.TUI.Model.Name
-    Swarm.TUI.Model.Popup
     Swarm.TUI.Model.Repl
     Swarm.TUI.Model.StateUpdate
-    Swarm.TUI.Model.Structure
     Swarm.TUI.Model.UI
     Swarm.TUI.Model.WebCommand
     Swarm.TUI.Panel
@@ -1041,6 +1042,7 @@ library swarm-tui
     Swarm.TUI.View.Logo
     Swarm.TUI.View.Objective
     Swarm.TUI.View.Popup
+    Swarm.TUI.View.Robot
     Swarm.TUI.View.Structure
     Swarm.TUI.View.Util
 
diff --git a/test/bench/Benchmark.hs b/test/bench/Benchmark.hs
index e0cbabae3..9e139d83b 100644
--- a/test/bench/Benchmark.hs
+++ b/test/bench/Benchmark.hs
@@ -142,7 +142,9 @@ mkGameState prog robotMaker numRobots = do
 
   -- NOTE: This replaces "classicGame0", which is still used by unit tests.
   gs <- simpleErrorHandle $ do
-    (_ :: Seq SystemFailure, initRS) <- runAccum mempty $ initRuntimeState $ RuntimeOptions False False
+    (_ :: Seq SystemFailure, initRS) <-
+      runAccum mempty . initRuntimeState $
+        RuntimeOptions {startPaused = False, pauseOnObjectiveCompletion = False, loadTestScenarios = False}
     (scenario, _) <- loadStandaloneScenario "classic"
     return $ pureScenarioToGameState scenario 0 0 Nothing $ view stdGameConfigInputs initRS