diff --git a/docs/steering.md b/docs/steering.md
index ad08f84250..63294ac5f0 100644
--- a/docs/steering.md
+++ b/docs/steering.md
@@ -21,6 +21,18 @@ Agent Loop      ▼
   └─ new LLM turn with steering message
 ```
 
+## Scoped queues
+
+Steering is now isolated per resolved session scope, not stored in a single
+global queue.
+
+- The active turn writes and reads from its own scope key (usually the routed session key such as `agent:<agent_id>:...`)
+- `Steer()` still works outside an active turn through a legacy fallback queue
+- `Continue()` first dequeues messages for the requested session scope, then falls back to the legacy queue for backwards compatibility
+
+This prevents a message arriving from another chat, DM peer, or routed agent
+session from being injected into the wrong conversation.
+
 ## Configuration
 
 In `config.json`, under `agents.defaults`:
@@ -86,12 +98,18 @@ if response == "" {
 
 `Continue` internally uses `SkipInitialSteeringPoll: true` to avoid double-dequeuing the same messages (since it already extracted them and passes them directly as input).
 
+`Continue` also resolves the target agent from the provided session key, so
+agent-scoped sessions continue on the correct agent instead of always using
+the default one.
+
 ## Polling points in the loop
 
-Steering is checked at **two points** in the agent cycle:
+Steering is checked at the following points in the agent cycle:
 
 1. **At loop start** — before the first LLM call, to catch messages enqueued during setup
 2. **After every tool completes** — including the first and the last. If steering is found and there are remaining tools, they are all skipped immediately
+3. **After a direct LLM response** — if a new steering message arrived while the model was generating a non-tool response, the loop continues instead of returning a stale answer
+4. **Right before the turn is finalized** — if steering arrived at the very end of the turn, the agent immediately starts a continuation turn instead of leaving the message orphaned in the queue
 
 ## Why remaining tools are skipped
 
@@ -156,11 +174,26 @@ When the agent loop (`Run()`) starts processing a message, it spawns a backgroun
 
 - Users on any channel (Telegram, Discord, etc.) don't need to do anything special — their messages are automatically captured as steering when the agent is busy
 - Audio messages are transcribed before being steered, so the agent receives text. If transcription fails, the original (non-transcribed) message is steered as-is
+- Only messages that resolve to the **same steering scope** as the active turn are redirected. Messages for other chats/sessions are requeued onto the inbound bus so they can be processed normally
+- `system` inbound messages are not treated as steering input
 - When `processMessage` finishes, the drain goroutine is canceled and normal message consumption resumes
 
+## Steering with media
+
+Steering messages can include `Media` refs, just like normal inbound user
+messages.
+
+- The original `media://` refs are preserved in session history via `AddFullMessage`
+- Before the next provider call, steering messages go through the normal media resolution pipeline
+- Image refs are converted to data URLs for multimodal providers; non-image refs are resolved the same way as standard inbound media
+
+This applies both to in-turn steering and to idle-session continuation through
+`Continue()`.
+
 ## Notes
 
 - Steering **does not interrupt** a tool that is currently executing. It waits for the current tool to finish, then checks the queue.
 - With `one-at-a-time` mode, if multiple messages are enqueued rapidly, they will be processed one per iteration. This gives the model the opportunity to react to each message individually.
 - With `all` mode, all pending messages are combined into a single injection. Useful when you want the agent to receive all the context at once.
 - The steering queue has a maximum capacity of 10 messages (`MaxQueueSize`). `Steer()` returns an error when the queue is full. In the bus drain path, the error is logged as a warning and the message is effectively dropped.
+- Manual `Steer()` calls made outside an active turn still go to the legacy fallback queue, so older integrations keep working.
diff --git a/pkg/agent/loop.go b/pkg/agent/loop.go
index f54482ae87..a3a23fb3d6 100644
--- a/pkg/agent/loop.go
+++ b/pkg/agent/loop.go
@@ -64,11 +64,12 @@ type processOptions struct {
 	ChatID                  string   // Target chat ID for tool execution
 	UserMessage             string   // User message content (may include prefix)
 	Media                   []string // media:// refs from inbound message
-	DefaultResponse         string   // Response when LLM returns empty
-	EnableSummary           bool     // Whether to trigger summarization
-	SendResponse            bool     // Whether to send response via bus
-	NoHistory               bool     // If true, don't load session history (for heartbeat)
-	SkipInitialSteeringPoll bool     // If true, skip the steering poll at loop start (used by Continue)
+	InitialSteeringMessages []providers.Message
+	DefaultResponse         string // Response when LLM returns empty
+	EnableSummary           bool   // Whether to trigger summarization
+	SendResponse            bool   // Whether to send response via bus
+	NoHistory               bool   // If true, don't load session history (for heartbeat)
+	SkipInitialSteeringPoll bool   // If true, skip the steering poll at loop start (used by Continue)
 }
 
 type continuationTarget struct {
@@ -271,11 +272,14 @@ func (al *AgentLoop) Run(ctx context.Context) error {
 			}
 
 			// Start a goroutine that drains the bus while processMessage is
-			// running. Any inbound messages that arrive during processing are
-			// redirected into the steering queue so the agent loop can pick
-			// them up between tool calls.
-			drainCtx, drainCancel := context.WithCancel(ctx)
-			go al.drainBusToSteering(drainCtx)
+			// running. Only messages that resolve to the active turn scope are
+			// redirected into steering; other inbound messages are requeued.
+			drainCancel := func() {}
+			if activeScope, activeAgentID, ok := al.resolveSteeringTarget(msg); ok {
+				drainCtx, cancel := context.WithCancel(ctx)
+				drainCancel = cancel
+				go al.drainBusToSteering(drainCtx, activeScope, activeAgentID)
+			}
 
 			// Process message
 			func() {
@@ -292,16 +296,21 @@ func (al *AgentLoop) Run(ctx context.Context) error {
 				// 	}
 				// }()
 
-				defer drainCancel()
+				drainCanceled := false
+				cancelDrain := func() {
+					if drainCanceled {
+						return
+					}
+					drainCancel()
+					drainCanceled = true
+				}
+				defer cancelDrain()
 
 				response, err := al.processMessage(ctx, msg)
 				if err != nil {
 					response = fmt.Sprintf("Error processing message: %v", err)
 				}
-
-				if response != "" {
-					al.publishResponseIfNeeded(ctx, msg.Channel, msg.ChatID, response)
-				}
+				finalResponse := response
 
 				target, targetErr := al.buildContinuationTarget(msg)
 				if targetErr != nil {
@@ -313,16 +322,20 @@ func (al *AgentLoop) Run(ctx context.Context) error {
 					return
 				}
 				if target == nil {
+					cancelDrain()
+					if finalResponse != "" {
+						al.publishResponseIfNeeded(ctx, msg.Channel, msg.ChatID, finalResponse)
+					}
 					return
 				}
 
-				for al.pendingSteeringCount() > 0 {
+				for al.pendingSteeringCountForScope(target.SessionKey) > 0 {
 					logger.InfoCF("agent", "Continuing queued steering after turn end",
 						map[string]any{
 							"channel":     target.Channel,
 							"chat_id":     target.ChatID,
 							"session_key": target.SessionKey,
-							"queue_depth": al.pendingSteeringCount(),
+							"queue_depth": al.pendingSteeringCountForScope(target.SessionKey),
 						})
 
 					continued, continueErr := al.Continue(ctx, target.SessionKey, target.Channel, target.ChatID)
@@ -339,7 +352,39 @@ func (al *AgentLoop) Run(ctx context.Context) error {
 						return
 					}
 
-					al.publishResponseIfNeeded(ctx, target.Channel, target.ChatID, continued)
+					finalResponse = continued
+				}
+
+				cancelDrain()
+
+				for al.pendingSteeringCountForScope(target.SessionKey) > 0 {
+					logger.InfoCF("agent", "Draining steering queued during turn shutdown",
+						map[string]any{
+							"channel":     target.Channel,
+							"chat_id":     target.ChatID,
+							"session_key": target.SessionKey,
+							"queue_depth": al.pendingSteeringCountForScope(target.SessionKey),
+						})
+
+					continued, continueErr := al.Continue(ctx, target.SessionKey, target.Channel, target.ChatID)
+					if continueErr != nil {
+						logger.WarnCF("agent", "Failed to continue queued steering after shutdown drain",
+							map[string]any{
+								"channel": target.Channel,
+								"chat_id": target.ChatID,
+								"error":   continueErr.Error(),
+							})
+						return
+					}
+					if continued == "" {
+						break
+					}
+
+					finalResponse = continued
+				}
+
+				if finalResponse != "" {
+					al.publishResponseIfNeeded(ctx, target.Channel, target.ChatID, finalResponse)
 				}
 			}()
 		}
@@ -349,15 +394,27 @@ func (al *AgentLoop) Run(ctx context.Context) error {
 }
 
 // drainBusToSteering continuously consumes inbound messages and redirects
-// them into the steering queue. It runs in a goroutine while processMessage
-// is active and stops when drainCtx is canceled (i.e., processMessage returns).
-func (al *AgentLoop) drainBusToSteering(ctx context.Context) {
+// messages from the active scope into the steering queue. Messages from other
+// scopes are requeued so they can be processed normally after the active turn.
+func (al *AgentLoop) drainBusToSteering(ctx context.Context, activeScope, activeAgentID string) {
 	for {
 		msg, ok := al.bus.ConsumeInbound(ctx)
 		if !ok {
 			return
 		}
 
+		msgScope, _, scopeOK := al.resolveSteeringTarget(msg)
+		if !scopeOK || msgScope != activeScope {
+			if err := al.requeueInboundMessage(msg); err != nil {
+				logger.WarnCF("agent", "Failed to requeue non-steering inbound message", map[string]any{
+					"error":     err.Error(),
+					"channel":   msg.Channel,
+					"sender_id": msg.SenderID,
+				})
+			}
+			return
+		}
+
 		// Transcribe audio if needed before steering, so the agent sees text.
 		msg, _ = al.transcribeAudioInMessage(ctx, msg)
 
@@ -366,11 +423,13 @@ func (al *AgentLoop) drainBusToSteering(ctx context.Context) {
 				"channel":     msg.Channel,
 				"sender_id":   msg.SenderID,
 				"content_len": len(msg.Content),
+				"scope":       activeScope,
 			})
 
-		if err := al.Steer(providers.Message{
+		if err := al.enqueueSteeringMessage(activeScope, activeAgentID, providers.Message{
 			Role:    "user",
 			Content: msg.Content,
+			Media:   append([]string(nil), msg.Media...),
 		}); err != nil {
 			logger.WarnCF("agent", "Failed to steer message, will be lost",
 				map[string]any{
@@ -422,13 +481,6 @@ func (al *AgentLoop) publishResponseIfNeeded(ctx context.Context, channel, chatI
 		})
 }
 
-func (al *AgentLoop) pendingSteeringCount() int {
-	if al.steering == nil {
-		return 0
-	}
-	return al.steering.len()
-}
-
 func (al *AgentLoop) buildContinuationTarget(msg bus.InboundMessage) (*continuationTarget, error) {
 	if msg.Channel == "system" {
 		return nil, nil
@@ -1085,6 +1137,25 @@ func resolveScopeKey(route routing.ResolvedRoute, msgSessionKey string) string {
 	return route.SessionKey
 }
 
+func (al *AgentLoop) resolveSteeringTarget(msg bus.InboundMessage) (string, string, bool) {
+	if msg.Channel == "system" {
+		return "", "", false
+	}
+
+	route, agent, err := al.resolveMessageRoute(msg)
+	if err != nil || agent == nil {
+		return "", "", false
+	}
+
+	return resolveScopeKey(route, msg.SessionKey), agent.ID, true
+}
+
+func (al *AgentLoop) requeueInboundMessage(msg bus.InboundMessage) error {
+	pubCtx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+	return al.bus.PublishInbound(pubCtx, msg)
+}
+
 func (al *AgentLoop) processSystemMessage(
 	ctx context.Context,
 	msg bus.InboundMessage,
@@ -1346,16 +1417,25 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 		}
 	}
 
-	if !ts.opts.NoHistory {
-		rootMsg := providers.Message{Role: "user", Content: ts.userMessage}
-		ts.agent.Sessions.AddMessage(ts.sessionKey, rootMsg.Role, rootMsg.Content)
+	if !ts.opts.NoHistory && (strings.TrimSpace(ts.userMessage) != "" || len(ts.media) > 0) {
+		rootMsg := providers.Message{
+			Role:    "user",
+			Content: ts.userMessage,
+			Media:   append([]string(nil), ts.media...),
+		}
+		if len(rootMsg.Media) > 0 {
+			ts.agent.Sessions.AddFullMessage(ts.sessionKey, rootMsg)
+		} else {
+			ts.agent.Sessions.AddMessage(ts.sessionKey, rootMsg.Role, rootMsg.Content)
+		}
 		ts.recordPersistedMessage(rootMsg)
 	}
 
 	activeCandidates, activeModel := al.selectCandidates(ts.agent, ts.userMessage, messages)
-	var pendingMessages []providers.Message
+	pendingMessages := append([]providers.Message(nil), ts.opts.InitialSteeringMessages...)
 	var finalContent string
 
+turnLoop:
 	for ts.currentIteration() < ts.agent.MaxIterations || len(pendingMessages) > 0 || func() bool {
 		graceful, _ := ts.gracefulInterruptRequested()
 		return graceful
@@ -1369,19 +1449,24 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 		ts.setIteration(iteration)
 		ts.setPhase(TurnPhaseRunning)
 
-		if iteration > 1 || !ts.opts.SkipInitialSteeringPoll {
-			if steerMsgs := al.dequeueSteeringMessages(); len(steerMsgs) > 0 {
+		if iteration > 1 {
+			if steerMsgs := al.dequeueSteeringMessagesForScope(ts.sessionKey); len(steerMsgs) > 0 {
+				pendingMessages = append(pendingMessages, steerMsgs...)
+			}
+		} else if !ts.opts.SkipInitialSteeringPoll {
+			if steerMsgs := al.dequeueSteeringMessagesForScopeWithFallback(ts.sessionKey); len(steerMsgs) > 0 {
 				pendingMessages = append(pendingMessages, steerMsgs...)
 			}
 		}
 
 		if len(pendingMessages) > 0 {
+			resolvedPending := resolveMediaRefs(pendingMessages, al.mediaStore, maxMediaSize)
 			totalContentLen := 0
-			for _, pm := range pendingMessages {
-				messages = append(messages, pm)
+			for i, pm := range pendingMessages {
+				messages = append(messages, resolvedPending[i])
 				totalContentLen += len(pm.Content)
 				if !ts.opts.NoHistory {
-					ts.agent.Sessions.AddMessage(ts.sessionKey, pm.Role, pm.Content)
+					ts.agent.Sessions.AddFullMessage(ts.sessionKey, pm)
 					ts.recordPersistedMessage(pm)
 				}
 				logger.InfoCF("agent", "Injected steering message into context",
@@ -1389,6 +1474,7 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 						"agent_id":    ts.agent.ID,
 						"iteration":   iteration,
 						"content_len": len(pm.Content),
+						"media_count": len(pm.Media),
 					})
 			}
 			al.emitEvent(
@@ -1660,10 +1746,21 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 			})
 
 		if len(response.ToolCalls) == 0 || gracefulTerminal {
-			finalContent = response.Content
-			if finalContent == "" && response.ReasoningContent != "" {
-				finalContent = response.ReasoningContent
+			responseContent := response.Content
+			if responseContent == "" && response.ReasoningContent != "" {
+				responseContent = response.ReasoningContent
+			}
+			if steerMsgs := al.dequeueSteeringMessagesForScope(ts.sessionKey); len(steerMsgs) > 0 {
+				logger.InfoCF("agent", "Steering arrived after direct LLM response; continuing turn",
+					map[string]any{
+						"agent_id":       ts.agent.ID,
+						"iteration":      iteration,
+						"steering_count": len(steerMsgs),
+					})
+				pendingMessages = append(pendingMessages, steerMsgs...)
+				continue
 			}
+			finalContent = responseContent
 			logger.InfoCF("agent", "LLM response without tool calls (direct answer)",
 				map[string]any{
 					"agent_id":      ts.agent.ID,
@@ -1870,7 +1967,7 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 				ts.recordPersistedMessage(toolResultMsg)
 			}
 
-			if steerMsgs := al.dequeueSteeringMessages(); len(steerMsgs) > 0 {
+			if steerMsgs := al.dequeueSteeringMessagesForScope(ts.sessionKey); len(steerMsgs) > 0 {
 				pendingMessages = append(pendingMessages, steerMsgs...)
 			}
 
@@ -1926,6 +2023,18 @@ func (al *AgentLoop) runTurn(ctx context.Context, ts *turnState) (turnResult, er
 		})
 	}
 
+	if steerMsgs := al.dequeueSteeringMessagesForScope(ts.sessionKey); len(steerMsgs) > 0 {
+		logger.InfoCF("agent", "Steering arrived after turn completion; continuing turn before finalizing",
+			map[string]any{
+				"agent_id":       ts.agent.ID,
+				"steering_count": len(steerMsgs),
+				"session_key":    ts.sessionKey,
+			})
+		pendingMessages = append(pendingMessages, steerMsgs...)
+		finalContent = ""
+		goto turnLoop
+	}
+
 	if ts.hardAbortRequested() {
 		turnStatus = TurnEndStatusAborted
 		return al.abortTurn(ts)
diff --git a/pkg/agent/steering.go b/pkg/agent/steering.go
index 77c2e0c177..eb8afa1dde 100644
--- a/pkg/agent/steering.go
+++ b/pkg/agent/steering.go
@@ -8,6 +8,7 @@ import (
 
 	"github.com/sipeed/picoclaw/pkg/logger"
 	"github.com/sipeed/picoclaw/pkg/providers"
+	"github.com/sipeed/picoclaw/pkg/routing"
 )
 
 // SteeringMode controls how queued steering messages are dequeued.
@@ -20,6 +21,9 @@ const (
 	SteeringAll SteeringMode = "all"
 	// MaxQueueSize number of possible messages in the Steering Queue
 	MaxQueueSize = 10
+	// manualSteeringScope is the legacy fallback queue used when no active
+	// turn/session scope is available.
+	manualSteeringScope = "__manual__"
 )
 
 // parseSteeringMode normalizes a config string into a SteeringMode.
@@ -35,56 +39,117 @@ func parseSteeringMode(s string) SteeringMode {
 // steeringQueue is a thread-safe queue of user messages that can be injected
 // into a running agent loop to interrupt it between tool calls.
 type steeringQueue struct {
-	mu    sync.Mutex
-	queue []providers.Message
-	mode  SteeringMode
+	mu     sync.Mutex
+	queues map[string][]providers.Message
+	mode   SteeringMode
 }
 
 func newSteeringQueue(mode SteeringMode) *steeringQueue {
 	return &steeringQueue{
-		mode: mode,
+		queues: make(map[string][]providers.Message),
+		mode:   mode,
 	}
 }
 
-// push enqueues a steering message.
+func normalizeSteeringScope(scope string) string {
+	scope = strings.TrimSpace(scope)
+	if scope == "" {
+		return manualSteeringScope
+	}
+	return scope
+}
+
+// push enqueues a steering message in the legacy fallback scope.
 func (sq *steeringQueue) push(msg providers.Message) error {
+	return sq.pushScope(manualSteeringScope, msg)
+}
+
+// pushScope enqueues a steering message for the provided scope.
+func (sq *steeringQueue) pushScope(scope string, msg providers.Message) error {
 	sq.mu.Lock()
 	defer sq.mu.Unlock()
-	if len(sq.queue) >= MaxQueueSize {
+
+	scope = normalizeSteeringScope(scope)
+	queue := sq.queues[scope]
+	if len(queue) >= MaxQueueSize {
 		return fmt.Errorf("steering queue is full")
 	}
-	sq.queue = append(sq.queue, msg)
+	sq.queues[scope] = append(queue, msg)
 	return nil
 }
 
-// dequeue removes and returns pending steering messages according to the
-// configured mode. Returns nil when the queue is empty.
+// dequeue removes and returns pending steering messages from the legacy
+// fallback scope according to the configured mode.
 func (sq *steeringQueue) dequeue() []providers.Message {
+	return sq.dequeueScope(manualSteeringScope)
+}
+
+// dequeueScope removes and returns pending steering messages for the provided
+// scope according to the configured mode.
+func (sq *steeringQueue) dequeueScope(scope string) []providers.Message {
+	sq.mu.Lock()
+	defer sq.mu.Unlock()
+
+	return sq.dequeueLocked(normalizeSteeringScope(scope))
+}
+
+// dequeueScopeWithFallback drains the scoped queue first and falls back to the
+// legacy manual scope for backwards compatibility.
+func (sq *steeringQueue) dequeueScopeWithFallback(scope string) []providers.Message {
 	sq.mu.Lock()
 	defer sq.mu.Unlock()
 
-	if len(sq.queue) == 0 {
+	scope = strings.TrimSpace(scope)
+	if scope != "" {
+		if msgs := sq.dequeueLocked(scope); len(msgs) > 0 {
+			return msgs
+		}
+	}
+
+	return sq.dequeueLocked(manualSteeringScope)
+}
+
+func (sq *steeringQueue) dequeueLocked(scope string) []providers.Message {
+	queue := sq.queues[scope]
+	if len(queue) == 0 {
 		return nil
 	}
 
 	switch sq.mode {
 	case SteeringAll:
-		msgs := sq.queue
-		sq.queue = nil
+		msgs := append([]providers.Message(nil), queue...)
+		delete(sq.queues, scope)
 		return msgs
-	default: // one-at-a-time
-		msg := sq.queue[0]
-		sq.queue[0] = providers.Message{} // Clear reference for GC
-		sq.queue = sq.queue[1:]
+	default:
+		msg := queue[0]
+		queue[0] = providers.Message{} // Clear reference for GC
+		queue = queue[1:]
+		if len(queue) == 0 {
+			delete(sq.queues, scope)
+		} else {
+			sq.queues[scope] = queue
+		}
 		return []providers.Message{msg}
 	}
 }
 
-// len returns the number of queued messages.
+// len returns the number of queued messages across all scopes.
 func (sq *steeringQueue) len() int {
 	sq.mu.Lock()
 	defer sq.mu.Unlock()
-	return len(sq.queue)
+
+	total := 0
+	for _, queue := range sq.queues {
+		total += len(queue)
+	}
+	return total
+}
+
+// lenScope returns the number of queued messages for a specific scope.
+func (sq *steeringQueue) lenScope(scope string) int {
+	sq.mu.Lock()
+	defer sq.mu.Unlock()
+	return len(sq.queues[normalizeSteeringScope(scope)])
 }
 
 // setMode updates the steering mode.
@@ -101,26 +166,40 @@ func (sq *steeringQueue) getMode() SteeringMode {
 	return sq.mode
 }
 
-// --- AgentLoop steering API ---
-
 // Steer enqueues a user message to be injected into the currently running
 // agent loop. The message will be picked up after the current tool finishes
 // executing, causing any remaining tool calls in the batch to be skipped.
 func (al *AgentLoop) Steer(msg providers.Message) error {
+	scope := ""
+	agentID := ""
+	if ts := al.getActiveTurnState(); ts != nil {
+		scope = ts.sessionKey
+		agentID = ts.agentID
+	}
+	return al.enqueueSteeringMessage(scope, agentID, msg)
+}
+
+func (al *AgentLoop) enqueueSteeringMessage(scope, agentID string, msg providers.Message) error {
 	if al.steering == nil {
 		return fmt.Errorf("steering queue is not initialized")
 	}
-	if err := al.steering.push(msg); err != nil {
+
+	if err := al.steering.pushScope(scope, msg); err != nil {
 		logger.WarnCF("agent", "Failed to enqueue steering message", map[string]any{
 			"error": err.Error(),
 			"role":  msg.Role,
+			"scope": normalizeSteeringScope(scope),
 		})
 		return err
 	}
+
+	queueDepth := al.steering.lenScope(scope)
 	logger.DebugCF("agent", "Steering message enqueued", map[string]any{
 		"role":        msg.Role,
 		"content_len": len(msg.Content),
-		"queue_len":   al.steering.len(),
+		"media_count": len(msg.Media),
+		"queue_len":   queueDepth,
+		"scope":       normalizeSteeringScope(scope),
 	})
 
 	meta := EventMeta{
@@ -129,11 +208,23 @@ func (al *AgentLoop) Steer(msg providers.Message) error {
 	}
 	if ts := al.getActiveTurnState(); ts != nil {
 		meta = ts.eventMeta("Steer", "turn.interrupt.received")
-	} else if registry := al.GetRegistry(); registry != nil {
-		if agent := registry.GetDefaultAgent(); agent != nil {
-			meta.AgentID = agent.ID
+	} else {
+		if strings.TrimSpace(agentID) != "" {
+			meta.AgentID = agentID
+		}
+		normalizedScope := normalizeSteeringScope(scope)
+		if normalizedScope != manualSteeringScope {
+			meta.SessionKey = normalizedScope
+		}
+		if meta.AgentID == "" {
+			if registry := al.GetRegistry(); registry != nil {
+				if agent := registry.GetDefaultAgent(); agent != nil {
+					meta.AgentID = agent.ID
+				}
+			}
 		}
 	}
+
 	al.emitEvent(
 		EventKindInterruptReceived,
 		meta,
@@ -141,7 +232,7 @@ func (al *AgentLoop) Steer(msg providers.Message) error {
 			Kind:       InterruptKindSteering,
 			Role:       msg.Role,
 			ContentLen: len(msg.Content),
-			QueueDepth: al.steering.len(),
+			QueueDepth: queueDepth,
 		},
 	)
 
@@ -165,7 +256,7 @@ func (al *AgentLoop) SetSteeringMode(mode SteeringMode) {
 }
 
 // dequeueSteeringMessages is the internal method called by the agent loop
-// to poll for steering messages. Returns nil when no messages are pending.
+// to poll for steering messages in the legacy fallback scope.
 func (al *AgentLoop) dequeueSteeringMessages() []providers.Message {
 	if al.steering == nil {
 		return nil
@@ -173,6 +264,60 @@ func (al *AgentLoop) dequeueSteeringMessages() []providers.Message {
 	return al.steering.dequeue()
 }
 
+func (al *AgentLoop) dequeueSteeringMessagesForScope(scope string) []providers.Message {
+	if al.steering == nil {
+		return nil
+	}
+	return al.steering.dequeueScope(scope)
+}
+
+func (al *AgentLoop) dequeueSteeringMessagesForScopeWithFallback(scope string) []providers.Message {
+	if al.steering == nil {
+		return nil
+	}
+	return al.steering.dequeueScopeWithFallback(scope)
+}
+
+func (al *AgentLoop) pendingSteeringCountForScope(scope string) int {
+	if al.steering == nil {
+		return 0
+	}
+	return al.steering.lenScope(scope)
+}
+
+func (al *AgentLoop) continueWithSteeringMessages(
+	ctx context.Context,
+	agent *AgentInstance,
+	sessionKey, channel, chatID string,
+	steeringMsgs []providers.Message,
+) (string, error) {
+	return al.runAgentLoop(ctx, agent, processOptions{
+		SessionKey:              sessionKey,
+		Channel:                 channel,
+		ChatID:                  chatID,
+		DefaultResponse:         defaultResponse,
+		EnableSummary:           true,
+		SendResponse:            false,
+		InitialSteeringMessages: steeringMsgs,
+		SkipInitialSteeringPoll: true,
+	})
+}
+
+func (al *AgentLoop) agentForSession(sessionKey string) *AgentInstance {
+	registry := al.GetRegistry()
+	if registry == nil {
+		return nil
+	}
+
+	if parsed := routing.ParseAgentSessionKey(sessionKey); parsed != nil {
+		if agent, ok := registry.GetAgent(parsed.AgentID); ok {
+			return agent
+		}
+	}
+
+	return registry.GetDefaultAgent()
+}
+
 // Continue resumes an idle agent by dequeuing any pending steering messages
 // and running them through the agent loop. This is used when the agent's last
 // message was from the assistant (i.e., it has stopped processing) and the
@@ -184,14 +329,14 @@ func (al *AgentLoop) Continue(ctx context.Context, sessionKey, channel, chatID s
 		return "", fmt.Errorf("turn %s is still active", active.TurnID)
 	}
 
-	steeringMsgs := al.dequeueSteeringMessages()
+	steeringMsgs := al.dequeueSteeringMessagesForScopeWithFallback(sessionKey)
 	if len(steeringMsgs) == 0 {
 		return "", nil
 	}
 
-	agent := al.GetRegistry().GetDefaultAgent()
+	agent := al.agentForSession(sessionKey)
 	if agent == nil {
-		return "", fmt.Errorf("no default agent available")
+		return "", fmt.Errorf("no agent available for session %q", sessionKey)
 	}
 
 	if tool, ok := agent.Tools.Get("message"); ok {
@@ -200,23 +345,7 @@ func (al *AgentLoop) Continue(ctx context.Context, sessionKey, channel, chatID s
 		}
 	}
 
-	// Build a combined user message from the steering messages.
-	var contents []string
-	for _, msg := range steeringMsgs {
-		contents = append(contents, msg.Content)
-	}
-	combinedContent := strings.Join(contents, "\n")
-
-	return al.runAgentLoop(ctx, agent, processOptions{
-		SessionKey:              sessionKey,
-		Channel:                 channel,
-		ChatID:                  chatID,
-		UserMessage:             combinedContent,
-		DefaultResponse:         defaultResponse,
-		EnableSummary:           true,
-		SendResponse:            false,
-		SkipInitialSteeringPoll: true,
-	})
+	return al.continueWithSteeringMessages(ctx, agent, sessionKey, channel, chatID, steeringMsgs)
 }
 
 func (al *AgentLoop) InterruptGraceful(hint string) error {
diff --git a/pkg/agent/steering_test.go b/pkg/agent/steering_test.go
index bb5d42c73b..cf2e86904c 100644
--- a/pkg/agent/steering_test.go
+++ b/pkg/agent/steering_test.go
@@ -5,13 +5,16 @@ import (
 	"encoding/json"
 	"fmt"
 	"os"
+	"path/filepath"
 	"reflect"
+	"strings"
 	"sync"
 	"testing"
 	"time"
 
 	"github.com/sipeed/picoclaw/pkg/bus"
 	"github.com/sipeed/picoclaw/pkg/config"
+	"github.com/sipeed/picoclaw/pkg/media"
 	"github.com/sipeed/picoclaw/pkg/providers"
 	"github.com/sipeed/picoclaw/pkg/routing"
 	"github.com/sipeed/picoclaw/pkg/tools"
@@ -337,6 +340,96 @@ func TestAgentLoop_Continue_WithMessages(t *testing.T) {
 	}
 }
 
+func TestDrainBusToSteering_RequeuesDifferentScopeMessage(t *testing.T) {
+	tmpDir, err := os.MkdirTemp("", "agent-test-*")
+	if err != nil {
+		t.Fatalf("Failed to create temp dir: %v", err)
+	}
+	defer os.RemoveAll(tmpDir)
+
+	cfg := &config.Config{
+		Agents: config.AgentsConfig{
+			Defaults: config.AgentDefaults{
+				Workspace:         tmpDir,
+				Model:             "test-model",
+				MaxTokens:         4096,
+				MaxToolIterations: 10,
+			},
+		},
+		Session: config.SessionConfig{
+			DMScope: "per-peer",
+		},
+	}
+
+	msgBus := bus.NewMessageBus()
+	al := NewAgentLoop(cfg, msgBus, &mockProvider{})
+
+	activeMsg := bus.InboundMessage{
+		Channel:  "telegram",
+		SenderID: "user1",
+		ChatID:   "chat1",
+		Content:  "active turn",
+		Peer: bus.Peer{
+			Kind: "direct",
+			ID:   "user1",
+		},
+	}
+	activeScope, activeAgentID, ok := al.resolveSteeringTarget(activeMsg)
+	if !ok {
+		t.Fatal("expected active message to resolve to a steering scope")
+	}
+
+	otherMsg := bus.InboundMessage{
+		Channel:  "telegram",
+		SenderID: "user2",
+		ChatID:   "chat2",
+		Content:  "other session",
+		Peer: bus.Peer{
+			Kind: "direct",
+			ID:   "user2",
+		},
+	}
+	otherScope, _, ok := al.resolveSteeringTarget(otherMsg)
+	if !ok {
+		t.Fatal("expected other message to resolve to a steering scope")
+	}
+	if otherScope == activeScope {
+		t.Fatalf("expected different steering scopes, got same scope %q", activeScope)
+	}
+
+	if err := msgBus.PublishInbound(context.Background(), otherMsg); err != nil {
+		t.Fatalf("PublishInbound failed: %v", err)
+	}
+
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+
+	done := make(chan struct{})
+	go func() {
+		al.drainBusToSteering(ctx, activeScope, activeAgentID)
+		close(done)
+	}()
+
+	select {
+	case <-done:
+	case <-time.After(2 * time.Second):
+		t.Fatal("timeout waiting for drainBusToSteering to stop")
+	}
+
+	if msgs := al.dequeueSteeringMessagesForScope(activeScope); len(msgs) != 0 {
+		t.Fatalf("expected no steering messages for active scope, got %v", msgs)
+	}
+
+	requeued, ok := msgBus.ConsumeInbound(context.Background())
+	if !ok {
+		t.Fatal("expected message to be requeued on the inbound bus")
+	}
+	if requeued.Channel != otherMsg.Channel || requeued.ChatID != otherMsg.ChatID ||
+		requeued.SenderID != otherMsg.SenderID || requeued.Content != otherMsg.Content {
+		t.Fatalf("requeued message mismatch: got %+v want %+v", requeued, otherMsg)
+	}
+}
+
 // slowTool simulates a tool that takes some time to execute.
 type slowTool struct {
 	name     string
@@ -472,6 +565,52 @@ func (p *lateSteeringProvider) GetDefaultModel() string {
 	return "late-steering-mock"
 }
 
+type blockingDirectProvider struct {
+	mu           sync.Mutex
+	calls        int
+	firstStarted chan struct{}
+	releaseFirst chan struct{}
+	firstResp    string
+	finalResp    string
+}
+
+func (p *blockingDirectProvider) Chat(
+	ctx context.Context,
+	messages []providers.Message,
+	tools []providers.ToolDefinition,
+	model string,
+	opts map[string]any,
+) (*providers.LLMResponse, error) {
+	p.mu.Lock()
+	p.calls++
+	call := p.calls
+	firstStarted := p.firstStarted
+	releaseFirst := p.releaseFirst
+	firstResp := p.firstResp
+	finalResp := p.finalResp
+	if call == 1 && p.firstStarted != nil {
+		close(p.firstStarted)
+		p.firstStarted = nil
+	}
+	p.mu.Unlock()
+
+	if call == 1 {
+		select {
+		case <-releaseFirst:
+		case <-ctx.Done():
+			return nil, ctx.Err()
+		}
+		return &providers.LLMResponse{Content: firstResp}, nil
+	}
+
+	_ = firstStarted
+	return &providers.LLMResponse{Content: finalResp}, nil
+}
+
+func (p *blockingDirectProvider) GetDefaultModel() string {
+	return "blocking-direct-mock"
+}
+
 type interruptibleTool struct {
 	name    string
 	started chan struct{}
@@ -744,18 +883,16 @@ func TestAgentLoop_Run_AutoContinuesLateSteeringMessage(t *testing.T) {
 
 	out1, ok := msgBus.SubscribeOutbound(subCtx)
 	if !ok {
-		t.Fatal("expected first outbound response")
+		t.Fatal("expected outbound response")
 	}
-	if out1.Content != "first response" {
-		t.Fatalf("expected first response, got %q", out1.Content)
+	if out1.Content != "continued response" {
+		t.Fatalf("expected continued response, got %q", out1.Content)
 	}
 
-	out2, ok := msgBus.SubscribeOutbound(subCtx)
-	if !ok {
-		t.Fatal("expected continued outbound response")
-	}
-	if out2.Content != "continued response" {
-		t.Fatalf("expected continued response, got %q", out2.Content)
+	noExtraCtx, cancelNoExtra := context.WithTimeout(context.Background(), 200*time.Millisecond)
+	defer cancelNoExtra()
+	if out2, ok := msgBus.SubscribeOutbound(noExtraCtx); ok {
+		t.Fatalf("expected stale direct response to be suppressed, got extra outbound %q", out2.Content)
 	}
 
 	cancelRun()
@@ -789,6 +926,191 @@ func TestAgentLoop_Run_AutoContinuesLateSteeringMessage(t *testing.T) {
 	}
 }
 
+func TestAgentLoop_Steering_DirectResponseContinuesWithQueuedMessage(t *testing.T) {
+	tmpDir, err := os.MkdirTemp("", "agent-test-*")
+	if err != nil {
+		t.Fatalf("Failed to create temp dir: %v", err)
+	}
+	defer os.RemoveAll(tmpDir)
+
+	cfg := &config.Config{
+		Agents: config.AgentsConfig{
+			Defaults: config.AgentDefaults{
+				Workspace:         tmpDir,
+				Model:             "test-model",
+				MaxTokens:         4096,
+				MaxToolIterations: 10,
+			},
+		},
+	}
+
+	sessionKey := routing.BuildAgentMainSessionKey(routing.DefaultAgentID)
+	provider := &blockingDirectProvider{
+		firstStarted: make(chan struct{}),
+		releaseFirst: make(chan struct{}),
+		firstResp:    "stale direct response",
+		finalResp:    "fresh response after steering",
+	}
+
+	msgBus := bus.NewMessageBus()
+	al := NewAgentLoop(cfg, msgBus, provider)
+
+	resultCh := make(chan struct {
+		resp string
+		err  error
+	}, 1)
+	go func() {
+		resp, err := al.ProcessDirectWithChannel(
+			context.Background(),
+			"initial request",
+			sessionKey,
+			"test",
+			"chat1",
+		)
+		resultCh <- struct {
+			resp string
+			err  error
+		}{resp: resp, err: err}
+	}()
+
+	select {
+	case <-provider.firstStarted:
+	case <-time.After(2 * time.Second):
+		t.Fatal("timeout waiting for first LLM call to start")
+	}
+
+	if err := al.Steer(providers.Message{Role: "user", Content: "follow-up instruction"}); err != nil {
+		t.Fatalf("Steer failed: %v", err)
+	}
+	close(provider.releaseFirst)
+
+	select {
+	case result := <-resultCh:
+		if result.err != nil {
+			t.Fatalf("unexpected error: %v", result.err)
+		}
+		if result.resp != "fresh response after steering" {
+			t.Fatalf("expected refreshed response, got %q", result.resp)
+		}
+	case <-time.After(5 * time.Second):
+		t.Fatal("timeout waiting for ProcessDirectWithChannel")
+	}
+
+	provider.mu.Lock()
+	calls := provider.calls
+	provider.mu.Unlock()
+	if calls != 2 {
+		t.Fatalf("expected 2 provider calls, got %d", calls)
+	}
+
+	if msgs := al.dequeueSteeringMessagesForScope(sessionKey); len(msgs) != 0 {
+		t.Fatalf("expected steering queue to be empty after continuation, got %v", msgs)
+	}
+}
+
+func TestAgentLoop_Continue_PreservesSteeringMedia(t *testing.T) {
+	tmpDir, err := os.MkdirTemp("", "agent-test-*")
+	if err != nil {
+		t.Fatalf("Failed to create temp dir: %v", err)
+	}
+	defer os.RemoveAll(tmpDir)
+
+	cfg := &config.Config{
+		Agents: config.AgentsConfig{
+			Defaults: config.AgentDefaults{
+				Workspace:         tmpDir,
+				Model:             "test-model",
+				MaxTokens:         4096,
+				MaxToolIterations: 10,
+			},
+		},
+	}
+
+	store := media.NewFileMediaStore()
+	pngPath := filepath.Join(tmpDir, "steer.png")
+	pngHeader := []byte{
+		0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A,
+		0x00, 0x00, 0x00, 0x0D,
+		0x49, 0x48, 0x44, 0x52,
+		0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x08, 0x02,
+		0x00, 0x00, 0x00,
+		0x90, 0x77, 0x53, 0xDE,
+	}
+	if err = os.WriteFile(pngPath, pngHeader, 0o644); err != nil {
+		t.Fatalf("WriteFile failed: %v", err)
+	}
+	ref, err := store.Store(pngPath, media.MediaMeta{Filename: "steer.png", ContentType: "image/png"}, "test")
+	if err != nil {
+		t.Fatalf("Store failed: %v", err)
+	}
+
+	var capturedMessages []providers.Message
+	var capMu sync.Mutex
+	provider := &capturingMockProvider{
+		response: "ack",
+		captureFn: func(msgs []providers.Message) {
+			capMu.Lock()
+			defer capMu.Unlock()
+			capturedMessages = append([]providers.Message(nil), msgs...)
+		},
+	}
+
+	sessionKey := routing.BuildAgentMainSessionKey(routing.DefaultAgentID)
+	msgBus := bus.NewMessageBus()
+	al := NewAgentLoop(cfg, msgBus, provider)
+	al.SetMediaStore(store)
+
+	if err = al.Steer(providers.Message{
+		Role:    "user",
+		Content: "describe this image",
+		Media:   []string{ref},
+	}); err != nil {
+		t.Fatalf("Steer failed: %v", err)
+	}
+
+	resp, err := al.Continue(context.Background(), sessionKey, "test", "chat1")
+	if err != nil {
+		t.Fatalf("Continue failed: %v", err)
+	}
+	if resp != "ack" {
+		t.Fatalf("expected ack, got %q", resp)
+	}
+
+	capMu.Lock()
+	msgs := append([]providers.Message(nil), capturedMessages...)
+	capMu.Unlock()
+
+	foundResolvedMedia := false
+	for _, msg := range msgs {
+		if msg.Role != "user" || msg.Content != "describe this image" || len(msg.Media) != 1 {
+			continue
+		}
+		if strings.HasPrefix(msg.Media[0], "data:image/png;base64,") {
+			foundResolvedMedia = true
+			break
+		}
+	}
+	if !foundResolvedMedia {
+		t.Fatal("expected continue path to inject steering media into the provider request")
+	}
+
+	defaultAgent := al.registry.GetDefaultAgent()
+	if defaultAgent == nil {
+		t.Fatal("expected default agent")
+	}
+	history := defaultAgent.Sessions.GetHistory(sessionKey)
+	foundOriginalRef := false
+	for _, msg := range history {
+		if msg.Role == "user" && len(msg.Media) == 1 && msg.Media[0] == ref {
+			foundOriginalRef = true
+			break
+		}
+	}
+	if !foundOriginalRef {
+		t.Fatal("expected original steering media ref to be preserved in session history")
+	}
+}
+
 func TestAgentLoop_InterruptGraceful_UsesTerminalNoToolCall(t *testing.T) {
 	tmpDir, err := os.MkdirTemp("", "agent-test-*")
 	if err != nil {