diff --git a/.changeset/tender-zoos-think.md b/.changeset/tender-zoos-think.md
new file mode 100644
index 000000000..f6f7507c9
--- /dev/null
+++ b/.changeset/tender-zoos-think.md
@@ -0,0 +1,5 @@
+---
+"@browserbasehq/stagehand": patch
+---
+
+include error cause in UnderstudyCommandException
diff --git a/packages/core/lib/v3/handlers/handlerUtils/actHandlerUtils.ts b/packages/core/lib/v3/handlers/handlerUtils/actHandlerUtils.ts
index a0ad6124e..d99801f8c 100644
--- a/packages/core/lib/v3/handlers/handlerUtils/actHandlerUtils.ts
+++ b/packages/core/lib/v3/handlers/handlerUtils/actHandlerUtils.ts
@@ -7,14 +7,10 @@ import { resolveLocatorWithHops } from "../../understudy/deepLocator.js";
 import type { Page } from "../../understudy/page.js";
 import { v3Logger } from "../../logger.js";
 import { SessionFileLogger } from "../../flowLogger.js";
-import { StagehandClickError } from "../../types/public/sdkErrors.js";
-
-export class UnderstudyCommandException extends Error {
-  constructor(message: string) {
-    super(message);
-    this.name = "UnderstudyCommandException";
-  }
-}
+import {
+  StagehandClickError,
+  UnderstudyCommandException,
+} from "../../types/public/sdkErrors.js";
 
 export interface UnderstudyMethodHandlerContext {
   method: string;
@@ -127,7 +123,10 @@ export async function performUnderstudyMethod(
         args: { value: JSON.stringify(args), type: "object" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    if (e instanceof UnderstudyCommandException) {
+      throw e;
+    }
+    throw new UnderstudyCommandException(msg, e);
   } finally {
     SessionFileLogger.logUnderstudyActionCompleted();
   }
@@ -163,17 +162,19 @@ export async function selectOption(ctx: UnderstudyMethodHandlerContext) {
     const text = args[0]?.toString() || "";
     await locator.selectOption(text);
   } catch (e) {
+    const msg = e instanceof Error ? e.message : String(e);
+    const stack = e instanceof Error ? e.stack : undefined;
     v3Logger({
       category: "action",
       message: "error selecting option",
       level: 0,
       auxiliary: {
-        error: { value: e.message, type: "string" },
-        trace: { value: e.stack, type: "string" },
+        error: { value: msg, type: "string" },
+        trace: { value: stack ?? "", type: "string" },
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(e.message);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -225,7 +226,8 @@ async function scrollByPixelOffset(
     const { x, y } = await locator.centroid();
     await page.scroll(x, y, dx, dy);
   } catch (e) {
-    throw new UnderstudyCommandException(e.message);
+    const msg = e instanceof Error ? e.message : String(e);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -263,7 +265,7 @@ async function fillOrType(ctx: UnderstudyMethodHandlerContext): Promise<void> {
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -282,7 +284,7 @@ async function typeText(ctx: UnderstudyMethodHandlerContext): Promise<void> {
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -312,7 +314,7 @@ async function pressKey(ctx: UnderstudyMethodHandlerContext): Promise<void> {
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -352,7 +354,7 @@ async function doubleClick(ctx: UnderstudyMethodHandlerContext): Promise<void> {
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -429,7 +431,7 @@ async function dragAndDrop(ctx: UnderstudyMethodHandlerContext): Promise<void> {
         to: { value: toXPath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(msg);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
@@ -508,17 +510,19 @@ export async function hover(ctx: UnderstudyMethodHandlerContext) {
   try {
     await locator.hover();
   } catch (e) {
+    const msg = e instanceof Error ? e.message : String(e);
+    const stack = e instanceof Error ? e.stack : undefined;
     v3Logger({
       category: "action",
       message: "error attempting to hover",
       level: 0,
       auxiliary: {
-        error: { value: e.message, type: "string" },
-        trace: { value: e.stack, type: "string" },
+        error: { value: msg, type: "string" },
+        trace: { value: stack ?? "", type: "string" },
         xpath: { value: xpath, type: "string" },
       },
     });
-    throw new UnderstudyCommandException(e.message);
+    throw new UnderstudyCommandException(msg, e);
   }
 }
 
diff --git a/packages/core/lib/v3/types/public/sdkErrors.ts b/packages/core/lib/v3/types/public/sdkErrors.ts
index 88389afc7..0f6beb2be 100644
--- a/packages/core/lib/v3/types/public/sdkErrors.ts
+++ b/packages/core/lib/v3/types/public/sdkErrors.ts
@@ -399,3 +399,10 @@ export class StagehandSnapshotError extends StagehandError {
     super(`error taking snapshot${suffix}`, cause);
   }
 }
+
+export class UnderstudyCommandException extends StagehandError {
+  constructor(message: string, cause?: unknown) {
+    super(message, cause);
+    this.name = "UnderstudyCommandException";
+  }
+}
diff --git a/packages/core/tests/public-api/public-error-types.test.ts b/packages/core/tests/public-api/public-error-types.test.ts
index 8f2dc170e..354fe5265 100644
--- a/packages/core/tests/public-api/public-error-types.test.ts
+++ b/packages/core/tests/public-api/public-error-types.test.ts
@@ -60,6 +60,7 @@ export const publicErrorTypes = {
   ActTimeoutError: Stagehand.ActTimeoutError,
   ObserveTimeoutError: Stagehand.ObserveTimeoutError,
   ExtractTimeoutError: Stagehand.ExtractTimeoutError,
+  UnderstudyCommandException: Stagehand.UnderstudyCommandException,
 } as const;
 
 const errorTypes = Object.keys(publicErrorTypes) as Array<
diff --git a/packages/core/tests/understudy-command-exception.test.ts b/packages/core/tests/understudy-command-exception.test.ts
new file mode 100644
index 000000000..1304f84be
--- /dev/null
+++ b/packages/core/tests/understudy-command-exception.test.ts
@@ -0,0 +1,68 @@
+import { describe, expect, it } from "vitest";
+import {
+  UnderstudyCommandException,
+  StagehandError,
+} from "../lib/v3/types/public/sdkErrors.js";
+
+describe("UnderstudyCommandException", () => {
+  it("extends StagehandError", () => {
+    const err = new UnderstudyCommandException("test");
+    expect(err).toBeInstanceOf(StagehandError);
+    expect(err).toBeInstanceOf(Error);
+  });
+
+  it("has the correct name", () => {
+    const err = new UnderstudyCommandException("test");
+    expect(err.name).toBe("UnderstudyCommandException");
+  });
+
+  it("preserves the message", () => {
+    const err = new UnderstudyCommandException("something broke");
+    expect(err.message).toBe("something broke");
+  });
+
+  it("stores the original error as cause when provided", () => {
+    const original = new Error("root cause");
+    const err = new UnderstudyCommandException("wrapper message", original);
+
+    expect(err.cause).toBe(original);
+    expect((err.cause as Error).message).toBe("root cause");
+    expect((err.cause as Error).stack).toBeDefined();
+  });
+
+  it("stores non-Error cause values", () => {
+    const err = new UnderstudyCommandException("failed", "string cause");
+    expect(err.cause).toBe("string cause");
+  });
+
+  it("has undefined cause when none is provided", () => {
+    const err = new UnderstudyCommandException("no cause");
+    expect(err.cause).toBeUndefined();
+  });
+
+  it("generates its own stack trace", () => {
+    const err = new UnderstudyCommandException("test");
+    expect(err.stack).toBeDefined();
+    expect(err.stack).toContain("UnderstudyCommandException");
+  });
+
+  it("preserves the original stack via cause for debugging", () => {
+    function deepFunction() {
+      throw new Error("deep error");
+    }
+
+    let original: Error;
+    try {
+      deepFunction();
+    } catch (e) {
+      original = e as Error;
+    }
+
+    const wrapped = new UnderstudyCommandException(original!.message, original);
+
+    // The wrapper has its own stack
+    expect(wrapped.stack).toBeDefined();
+    // The original stack is accessible via cause
+    expect((wrapped.cause as Error).stack).toContain("deepFunction");
+  });
+});