diff --git a/dimos/visualization/rerun/bridge.py b/dimos/visualization/rerun/bridge.py
index 85180fa40..9bba9dd82 100644
--- a/dimos/visualization/rerun/bridge.py
+++ b/dimos/visualization/rerun/bridge.py
@@ -36,10 +36,18 @@
 
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
+from dimos.msgs.sensor_msgs import Image, PointCloud2
 from dimos.protocol.pubsub.impl.lcmpubsub import LCM
 from dimos.protocol.pubsub.patterns import Glob, pattern_matches
 from dimos.utils.logging_config import setup_logger
 
+# Message types with large payloads that need rate-limiting.
+# Image (~1 MB/frame at 30 fps) and PointCloud2 (~600-800 KB/frame)
+# cause viewer OOM if logged at full rate.  Light messages
+# (Path, PointStamped, Twist, TF, EntityMarkers …) pass through
+# unthrottled so navigation overlays and user input are never dropped.
+_HEAVY_MSG_TYPES: tuple[type, ...] = (Image, PointCloud2)
+
 RERUN_GRPC_PORT = 9876
 RERUN_WEB_PORT = 9090
 
@@ -254,10 +262,11 @@ def _on_message(self, msg: Any, topic: Any) -> None:
         # convert a potentially complex topic object into an str rerun entity path
         entity_path: str = self._get_entity_path(topic)
 
-        # Rate-limit per entity path to prevent viewer memory exhaustion.
-        # High-bandwidth streams (e.g. 30fps camera) would otherwise flood
-        # the viewer with data faster than it can evict, causing OOM.
-        if self.config.min_interval_sec > 0:
+        # Rate-limit heavy data types to prevent viewer memory exhaustion.
+        # High-bandwidth streams (e.g. 30fps camera, lidar) would otherwise
+        # flood the viewer faster than it can evict, causing OOM.  Light
+        # messages (Path, PointStamped, TF, etc.) pass through unthrottled.
+        if self.config.min_interval_sec > 0 and isinstance(msg, _HEAVY_MSG_TYPES):
             now = time.monotonic()
             last = self._last_log.get(entity_path, 0.0)
             if now - last < self.config.min_interval_sec: