diff --git a/dimos/utils/cli/human/humancli.py b/dimos/utils/cli/human/humancli.py
index a0ce0afff4..cd7ca91637 100644
--- a/dimos/utils/cli/human/humancli.py
+++ b/dimos/utils/cli/human/humancli.py
@@ -15,6 +15,7 @@
 from __future__ import annotations
 
 from datetime import datetime
+import json
 import textwrap
 import threading
 from typing import TYPE_CHECKING
@@ -140,7 +141,9 @@ def receive_msg(msg) -> None:  # type: ignore[no-untyped-def]
                 )
             elif isinstance(msg, AIMessage):
                 content = msg.content or ""
-                tool_calls = msg.additional_kwargs.get("tool_calls", [])
+                tool_calls = getattr(msg, "tool_calls", None) or msg.additional_kwargs.get(
+                    "tool_calls", []
+                )
 
                 # Display the main content first
                 if content:
@@ -174,9 +177,10 @@ def receive_msg(msg) -> None:  # type: ignore[no-untyped-def]
 
     def _format_tool_call(self, tool_call: ToolCall) -> str:
         """Format a tool call for display."""
-        f = tool_call.get("function", {})
-        name = f.get("name", "unknown")  # type: ignore[attr-defined]
-        return f"▶ {name}({f.get('arguments', '')})"  # type: ignore[attr-defined]
+        name = tool_call.get("name", "unknown")
+        args = tool_call.get("args", {})
+        args_str = json.dumps(args, separators=(",", ":"))
+        return f"▶ {name}({args_str})"
 
     def _add_message(self, timestamp: str, sender: str, content: str, color: str) -> None:
         """Add a message to the chat log."""
diff --git a/pyproject.toml b/pyproject.toml
index 3faa358b4b..d565f5ebe1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -100,7 +100,6 @@ misc = [
 
     # Perception Dependencies
     "scikit-learn",
-    "clip",
     "timm>=1.0.15",
     "opencv-contrib-python==4.10.0.84",
 
@@ -205,17 +204,6 @@ cuda = [
     "mmengine>=0.10.3",
     "mmcv>=2.1.0",
     "xformers>=0.0.20",
-
-    # Detic GPU stack
-    "mss",
-    "dataclasses",
-    "ftfy",
-    "regex",
-    "fasttext",
-    "lvis",
-    "nltk",
-    "clip",
-    "detectron2",
 ]
 
 dev = [
@@ -381,11 +369,9 @@ ignore = [
 
 [tool.uv]
 # Build dependencies for packages that don't declare them properly
-extra-build-dependencies = { detectron2 = ["torch"], contact-graspnet-pytorch = ["numpy"] }
+extra-build-dependencies = { contact-graspnet-pytorch = ["numpy"] }
 
 default-groups = []
 
 [tool.uv.sources]
-clip = { git = "https://github.com/openai/CLIP.git" }
 contact-graspnet-pytorch = { git = "https://github.com/dimensionalOS/contact_graspnet_pytorch.git" }
-detectron2 = { git = "https://github.com/facebookresearch/detectron2.git", tag = "v0.6" }
diff --git a/uv.lock b/uv.lock
index 351b8d16e5..841b0cccaf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -134,12 +134,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/60/1c/1cd02b7ae64302a6e06724bf80a96401d5313708651d277b1458504a1730/anthropic-0.75.0-py3-none-any.whl", hash = "sha256:ea8317271b6c15d80225a9f3c670152746e88805a7a61e14d4a374577164965b", size = 388164, upload-time = "2025-11-24T20:41:43.587Z" },
 ]
 
-[[package]]
-name = "antlr4-python3-runtime"
-version = "4.9.3"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/3e/38/7859ff46355f76f8d19459005ca000b6e7012f2f1ca597746cbcd1fbfe5e/antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b", size = 117034, upload-time = "2021-11-06T17:52:23.524Z" }
-
 [[package]]
 name = "anyio"
 version = "4.12.1"
@@ -154,15 +148,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/0e/27be9fdef66e72d64c0cdc3cc2823101b80585f8119b5c112c2e8f5f7dab/anyio-4.12.1-py3-none-any.whl", hash = "sha256:d405828884fc140aa80a3c667b8beed277f1dfedec42ba031bd6ac3db606ab6c", size = 113592, upload-time = "2026-01-06T11:45:19.497Z" },
 ]
 
-[[package]]
-name = "appdirs"
-version = "1.4.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d7/d8/05696357e0311f5b5c316d7b95f46c669dd9c15aaeecbb48c7d0aeb88c40/appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41", size = 13470, upload-time = "2020-05-11T07:59:51.037Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3b/00/2344469e2084fb287c2e0b57b72910309874c3245463acd6cf5e3db69324/appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128", size = 9566, upload-time = "2020-05-11T07:59:49.499Z" },
-]
-
 [[package]]
 name = "appnope"
 version = "0.1.4"
@@ -381,23 +366,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/1d/4f/02d3cb62a1b0b5a1ca7ff03dce3606be1bf3ead4744f47eb762dbf471069/bitsandbytes-0.49.1-py3-none-manylinux_2_24_x86_64.whl", hash = "sha256:e7940bf32457dc2e553685285b2a86e82f5ec10b2ae39776c408714f9ae6983c", size = 59054193, upload-time = "2026-01-08T14:31:31.743Z" },
 ]
 
-[[package]]
-name = "black"
-version = "21.4b2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "appdirs" },
-    { name = "click" },
-    { name = "mypy-extensions" },
-    { name = "pathspec" },
-    { name = "regex" },
-    { name = "toml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f7/75/69fabe4a2d578b315a3b90e485b1671b9872d192028944e9af726bb8c452/black-21.4b2.tar.gz", hash = "sha256:fc9bcf3b482b05c1f35f6a882c079dc01b9c7795827532f4cc43c0ec88067bbc", size = 1151620, upload-time = "2021-04-28T15:33:13.158Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ec/c3/848edbd902fa908e941eaf72dc142b4a5c86e903c1e0129cf7cd098a485b/black-21.4b2-py3-none-any.whl", hash = "sha256:bff7067d8bc25eb21dcfdbc8c72f2baafd9ec6de4663241a52fb904b304d391f", size = 130959, upload-time = "2021-04-28T15:33:10.622Z" },
-]
-
 [[package]]
 name = "blinker"
 version = "1.9.0"
@@ -826,19 +794,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/98/78/01c019cdb5d6498122777c1a43056ebb3ebfeef2076d9d026bfe15583b2b/click-8.3.1-py3-none-any.whl", hash = "sha256:981153a64e25f12d547d3426c367a4857371575ee7ad18df2a6183ab0545b2a6", size = 108274, upload-time = "2025-11-15T20:45:41.139Z" },
 ]
 
-[[package]]
-name = "clip"
-version = "1.0"
-source = { git = "https://github.com/openai/CLIP.git#dcba3cb2e2827b402d2701e7e1c7d9fed8a20ef1" }
-dependencies = [
-    { name = "ftfy" },
-    { name = "packaging" },
-    { name = "regex" },
-    { name = "torch" },
-    { name = "torchvision" },
-    { name = "tqdm" },
-]
-
 [[package]]
 name = "cloudpickle"
 version = "3.1.2"
@@ -1380,15 +1335,6 @@ complete = [
     { name = "pyarrow" },
 ]
 
-[[package]]
-name = "dataclasses"
-version = "0.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1f/12/7919c5d8b9c497f9180db15ea8ead6499812ea8264a6ae18766d93c59fe5/dataclasses-0.8.tar.gz", hash = "sha256:8479067f342acf957dc82ec415d355ab5edb7e7646b90dc6e2fd1d96ad084c97", size = 36581, upload-time = "2020-11-13T14:40:30.139Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/fe/ca/75fac5856ab5cfa51bbbcefa250182e50441074fdc3f803f6e76451fab43/dataclasses-0.8-py3-none-any.whl", hash = "sha256:0201d89fa866f68c8ebd9d08ee6ff50c0b255f8ec63a71c16fda7af82bb887bf", size = 19041, upload-time = "2020-11-13T14:40:29.194Z" },
-]
-
 [[package]]
 name = "debugpy"
 version = "1.8.19"
@@ -1427,29 +1373,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/4e/8c/f3147f5c4b73e7550fe5f9352eaa956ae838d5c51eb58e7a25b9f3e2643b/decorator-5.2.1-py3-none-any.whl", hash = "sha256:d316bb415a2d9e2d2b3abcc4084c6502fc09240e292cd76a76afc106a1c8e04a", size = 9190, upload-time = "2025-02-24T04:41:32.565Z" },
 ]
 
-[[package]]
-name = "detectron2"
-version = "0.6"
-source = { git = "https://github.com/facebookresearch/detectron2.git?tag=v0.6#d1e04565d3bec8719335b88be9e9b961bf3ec464" }
-dependencies = [
-    { name = "black" },
-    { name = "cloudpickle" },
-    { name = "future" },
-    { name = "fvcore" },
-    { name = "hydra-core" },
-    { name = "iopath" },
-    { name = "matplotlib" },
-    { name = "omegaconf" },
-    { name = "pillow" },
-    { name = "pycocotools" },
-    { name = "pydot" },
-    { name = "tabulate" },
-    { name = "tensorboard" },
-    { name = "termcolor" },
-    { name = "tqdm" },
-    { name = "yacs" },
-]
-
 [[package]]
 name = "dimos"
 version = "0.0.7"
@@ -1535,21 +1458,12 @@ cpu = [
     { name = "onnxruntime" },
 ]
 cuda = [
-    { name = "clip" },
     { name = "ctransformers", extra = ["cuda"] },
     { name = "cupy-cuda12x" },
-    { name = "dataclasses" },
-    { name = "detectron2" },
-    { name = "fasttext" },
-    { name = "ftfy" },
-    { name = "lvis" },
     { name = "mmcv" },
     { name = "mmengine" },
-    { name = "mss" },
-    { name = "nltk" },
     { name = "nvidia-nvimgcodec-cu12", extra = ["all"] },
     { name = "onnxruntime-gpu" },
-    { name = "regex" },
     { name = "xformers" },
 ]
 dev = [
@@ -1606,7 +1520,6 @@ manipulation = [
 misc = [
     { name = "catkin-pkg" },
     { name = "cerebras-cloud-sdk" },
-    { name = "clip" },
     { name = "einops" },
     { name = "empy" },
     { name = "gdown" },
@@ -1692,8 +1605,6 @@ requires-dist = [
     { name = "bitsandbytes", marker = "sys_platform == 'linux' and extra == 'agents'", specifier = ">=0.48.2,<1.0" },
     { name = "catkin-pkg", marker = "extra == 'misc'" },
     { name = "cerebras-cloud-sdk", marker = "extra == 'misc'" },
-    { name = "clip", marker = "extra == 'cuda'", git = "https://github.com/openai/CLIP.git" },
-    { name = "clip", marker = "extra == 'misc'", git = "https://github.com/openai/CLIP.git" },
     { name = "colorlog", specifier = "==6.9.0" },
     { name = "contact-graspnet-pytorch", marker = "extra == 'manipulation'", git = "https://github.com/dimensionalOS/contact_graspnet_pytorch.git" },
     { name = "coverage", marker = "extra == 'dev'", specifier = ">=7.0" },
@@ -1701,18 +1612,14 @@ requires-dist = [
     { name = "ctransformers", extras = ["cuda"], marker = "extra == 'cuda'", specifier = "==0.2.27" },
     { name = "cupy-cuda12x", marker = "extra == 'cuda'", specifier = "==13.6.0" },
     { name = "dask", extras = ["complete"], specifier = "==2025.5.1" },
-    { name = "dataclasses", marker = "extra == 'cuda'" },
-    { name = "detectron2", marker = "extra == 'cuda'", git = "https://github.com/facebookresearch/detectron2.git?tag=v0.6" },
     { name = "dimos", extras = ["agents", "web", "perception", "visualization", "sim"], marker = "extra == 'base'" },
     { name = "dimos", extras = ["base"], marker = "extra == 'unitree'" },
     { name = "dimos-lcm" },
     { name = "einops", marker = "extra == 'misc'", specifier = "==0.8.1" },
     { name = "empy", marker = "extra == 'misc'", specifier = "==3.3.4" },
     { name = "fastapi", marker = "extra == 'web'", specifier = ">=0.115.6" },
-    { name = "fasttext", marker = "extra == 'cuda'" },
     { name = "ffmpeg-python", marker = "extra == 'web'" },
     { name = "filterpy", marker = "extra == 'perception'", specifier = ">=1.4.5" },
-    { name = "ftfy", marker = "extra == 'cuda'" },
     { name = "gdown", marker = "extra == 'misc'", specifier = "==5.2.0" },
     { name = "googlemaps", marker = "extra == 'misc'", specifier = ">=4.10.0" },
     { name = "h5py", marker = "extra == 'manipulation'", specifier = ">=3.7.0" },
@@ -1728,17 +1635,14 @@ requires-dist = [
     { name = "lap", marker = "extra == 'perception'", specifier = ">=0.5.12" },
     { name = "lark", marker = "extra == 'misc'" },
     { name = "llvmlite", specifier = ">=0.42.0" },
-    { name = "lvis", marker = "extra == 'cuda'" },
     { name = "lxml-stubs", marker = "extra == 'dev'", specifier = ">=0.5.1,<1" },
     { name = "matplotlib", marker = "extra == 'manipulation'", specifier = ">=3.7.1" },
     { name = "mcp", marker = "extra == 'agents'", specifier = ">=1.0.0" },
     { name = "mmcv", marker = "extra == 'cuda'", specifier = ">=2.1.0" },
     { name = "mmengine", marker = "extra == 'cuda'", specifier = ">=0.10.3" },
     { name = "moondream", marker = "extra == 'perception'" },
-    { name = "mss", marker = "extra == 'cuda'" },
     { name = "mujoco", marker = "extra == 'sim'", specifier = ">=3.3.4" },
     { name = "mypy", marker = "extra == 'dev'", specifier = "==1.19.0" },
-    { name = "nltk", marker = "extra == 'cuda'" },
     { name = "numba", specifier = ">=0.60.0" },
     { name = "numpy", specifier = ">=1.26.4" },
     { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "extra == 'cuda'" },
@@ -1778,7 +1682,6 @@ requires-dist = [
     { name = "pyturbojpeg", specifier = "==1.8.2" },
     { name = "pyyaml", marker = "extra == 'manipulation'", specifier = ">=6.0" },
     { name = "reactivex" },
-    { name = "regex", marker = "extra == 'cuda'" },
     { name = "requests-mock", marker = "extra == 'dev'", specifier = "==1.12.1" },
     { name = "rerun-sdk", specifier = ">=0.20.0" },
     { name = "rerun-sdk", marker = "extra == 'visualization'", specifier = ">=0.20.0" },
@@ -2157,18 +2060,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/28/a3/2ad0a0a69662fd4cf556ab8074f0de978ee9b56bff6ddb4e656df4aa9e8e/fastrlock-0.8.3-cp313-cp313-win_amd64.whl", hash = "sha256:8d1d6a28291b4ace2a66bd7b49a9ed9c762467617febdd9ab356b867ed901af8", size = 30472, upload-time = "2024-12-17T11:02:37.983Z" },
 ]
 
-[[package]]
-name = "fasttext"
-version = "0.9.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "pybind11" },
-    { name = "setuptools" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/9f/3b/9a10b95eaf565358339162848863197c3f0a29b540ca22b2951df2d66a48/fasttext-0.9.3.tar.gz", hash = "sha256:eb03f2ef6340c6ac9e4398a30026f05471da99381b307aafe2f56e4cd26baaef", size = 73439, upload-time = "2024-06-12T09:44:42.544Z" }
-
 [[package]]
 name = "ffmpeg-python"
 version = "0.2.0"
@@ -2428,23 +2319,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/da/71/ae30dadffc90b9006d77af76b393cb9dfbfc9629f339fc1574a1c52e6806/future-1.0.0-py3-none-any.whl", hash = "sha256:929292d34f5872e70396626ef385ec22355a1fae8ad29e1a734c3e43f9fbc216", size = 491326, upload-time = "2024-02-21T11:52:35.956Z" },
 ]
 
-[[package]]
-name = "fvcore"
-version = "0.1.5.post20221221"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "iopath" },
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "pillow" },
-    { name = "pyyaml" },
-    { name = "tabulate" },
-    { name = "termcolor" },
-    { name = "tqdm" },
-    { name = "yacs" },
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-sdist = { url = "https://files.pythonhosted.org/packages/a5/93/d056a9c4efc6c79ba7b5159cc66bb436db93d2cc46dca18ed65c59cc8e4e/fvcore-0.1.5.post20221221.tar.gz", hash = "sha256:f2fb0bb90572ae651c11c78e20493ed19b2240550a7e4bbb2d6de87bdd037860", size = 50217, upload-time = "2022-12-21T08:10:53.563Z" }
-
 [[package]]
 name = "gdown"
 version = "5.2.0"
@@ -2815,20 +2689,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/c5/7b/bca5613a0c3b542420cf92bd5e5fb8ebd5435ce1011a091f66bb7693285e/humanize-4.15.0-py3-none-any.whl", hash = "sha256:b1186eb9f5a9749cd9cb8565aee77919dd7c8d076161cf44d70e59e3301e1769", size = 132203, upload-time = "2025-12-20T20:16:11.67Z" },
 ]
 
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-version = "1.3.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "antlr4-python3-runtime" },
-    { name = "omegaconf" },
-    { name = "packaging" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6d/8e/07e42bc434a847154083b315779b0a81d567154504624e181caf2c71cd98/hydra-core-1.3.2.tar.gz", hash = "sha256:8a878ed67216997c3e9d88a8e72e7b4767e81af37afb4ea3334b269a4390a824", size = 3263494, upload-time = "2023-02-23T18:33:43.03Z" }
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-
 [[package]]
 name = "identify"
 version = "2.6.15"
@@ -2900,18 +2760,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/cb/b1/3846dd7f199d53cb17f49cba7e651e9ce294d8497c8c150530ed11865bb8/iniconfig-2.3.0-py3-none-any.whl", hash = "sha256:f631c04d2c48c52b84d0d0549c99ff3859c98df65b3101406327ecc7d53fbf12", size = 7484, upload-time = "2025-10-18T21:55:41.639Z" },
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-[[package]]
-name = "iopath"
-version = "0.1.9"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "portalocker" },
-    { name = "tqdm" },
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-wheels = [
-    { url = "https://files.pythonhosted.org/packages/af/20/65dd9bd25a1eb7fa35b5ae38d289126af065f8a0c1f6a90564f4bff0f89d/iopath-0.1.9-py3-none-any.whl", hash = "sha256:9058ac24f0328decdf8dbe209b33074b8702a3c4d9ba2f7801d46cb61a880b6e", size = 27367, upload-time = "2021-06-25T07:10:15.198Z" },
-]
-
 [[package]]
 name = "ipykernel"
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