diff --git a/README.md b/README.md
index 848fa2d..1849aa0 100644
--- a/README.md
+++ b/README.md
@@ -1,40 +1,71 @@
-# AutoRail — 自动铺铁轨（Fabric 1.21.4，内置寻路）
+# AutoRail — 自动铺铁轨工业模组（Fabric 1.21.4，内置寻路）
 
 按住 **R+T** 打开菜单，输入**起始点**、**目标点**和必经的**途径点**，模组用内置 A* 寻路
-规划一条可铺轨的路线，然后控制玩家边走边铺，直到目标点。**不依赖 Baritone**，寻路与行走全部内置。
+规划一条可铺轨的路线，然后控制玩家自动走到起点、边走边铺，直到目标点。
+**不依赖 Baritone**，寻路与行走全部内置；间隔放置**动力铁轨/探测铁轨/红石火把**，
+带**材料不足预案、低血量紧急避险、自动进食**，是完整的自动化铺轨流水线。
 
 ## 使用
 
 1. 安装 [Fabric Loader ≥0.16.9](https://fabricmc.net/use/) 与 [Fabric API](https://modrinth.com/mod/fabric-api)，把 `autorail-<version>.jar` 放进 `mods/`。
 2. 进世界后按住 **R+T** 打开菜单（先按 T 弹出聊天栏也会被菜单替换掉，正常现象）。
-3. 起始点留空 = 当前坐标；目标点必填；途径点可添加多个（按顺序经过）。
+3. 起始点留空 = 当前坐标；**目标点必填**；途径点可添加多个（按顺序经过）。
    坐标格式支持：`100 64 -200`（x y z）、`100 -200`（x z，自动找地面）、`~`、`~ 10 ~`、`~-5` 等相对写法。
-4. 点“开始铺轨”：先分片寻路（菜单/聊天栏显示进度，不卡游戏），完成后自动开始铺设（菜单自动关闭）。
-5. 快捷栏需要**铁轨**；遇到悬空/水面会自动用**圆石**垫脚，没有则提示并停止。
+4. 点“开始铺轨”：先规划铁轨路线；若起点较远，模组会**自动步行走到起点**再开始铺设
+   （全程菜单/聊天栏显示进度，不卡游戏）。
+5. 快捷栏需要**铁轨**；启用电气化后还需要**动力铁轨**（和按规则插的**红石火把**/**探测铁轨**）；
+   遇到悬空/水面会自动用**圆石**垫脚，没有则按预案处理。
 6. 铺轨过程中不要打开聊天/背包等界面（行走会暂停）；再按 R+T 可查看进度或点“停止”。
 
+## 放置规则（电气化）
+
+在菜单里点 **“设置…”** 配置，保存到 `config/autorail.json`：
+
+| 设置项 | 默认 | 说明 |
+| --- | --- | --- |
+| 动力铁轨间隔 | 16 格 | 每 N 格放 1 根动力铁轨（0 = 不放置） |
+| 探测铁轨间隔 | 0（关） | 每 N 格放 1 个探测铁轨，矿车压过自动激活相邻动力轨 |
+| 红石火把间隔 | 12 根动力轨 | 每 N 根动力铁轨旁的支撑方块侧面插 1 支火把持续供电 |
+| 材料不足预案 | 等待补充 | **等待**：原地暂停等快捷栏补料（超时可配）；**跳过**：缺火把/特殊轨就先铺普通轨保通 |
+| 等待超时 | 60 秒 | 等待材料超过该时长自动停止并提示 |
+| 低血量避险阈值 | 6 | 生命值低于阈值立即停下后退脱险（0 = 关闭） |
+| 自动进食阈值 | 16 | 饥饿度低于阈值自动吃快捷栏里的食物（0 = 关闭） |
+
+动力铁轨默认由旁边的红石火把持续供电；探测铁轨方案则适合“矿车压过才加速”的线路。
+
+## 自动安全系统（铺轨期间后台运行）
+
+- **低血量紧急避险**：生命值 ≤ 阈值 → 松开前进、后退 + 跳跃拉开距离，恢复后自动回到岗位。
+- **自动进食**：饥饿 ≤ 阈值且血量未满 → 切换到快捷栏食物并长按使用键进食，吃完自动恢复铺轨。
+- **材料不足预案**：铁轨/圆石/火把缺货时按“等待/跳过”预案执行，不会卡死也不会铺出断头路。
+- **卡住自救**：行走受阻先跳跃脱困，持续卡住才报错停止；放置失败自动重试。
+
 ## 内置寻路（A*）
 
-- 专为铁轨设计：4 向移动、允许 ±1 格坡度、禁止掉头、禁止“转弯+坡度”同格（原版没有斜弯轨）。
-- 每个节点校验：上方两格可通行（玩家沿线行走）、下方有实心支撑或可用圆石垫补、避开水面/岩浆。
-- 转弯有额外代价（尽量走直线）；已有铁轨可复用且有折扣，优先延伸既有线路。
-- 分片执行（每 tick 限额展开 4096 节点）；搜索范围限制在检查点包围盒外扩 48 格，总展开上限 40 万节点。
+- **铁轨寻路**：4 向移动、±1 格坡度、禁止掉头、“转弯+坡度”同格禁止（原版没有斜弯轨）；
+  每节点校验头顶两格可通行、下方支撑可垫补，避开水面/岩浆；转弯加价、复用既有铁轨打折。
+- **步行寻路**（去远处起点）：4 向 + 跳 1 格 + 落 3 格 + 可涉水，走不到会明确报错。
+- 分片执行（每 tick 限额展开），不卡客户端线程。
 
 ## 铺设（合法交互）
 
 - 切换快捷栏 + `processRightClickBlock` 右键放置，**全程合法交互，绝不 `world.setBlockState`**，多人服务器可信任。
-- 放置节奏 200ms 一次；放置前自动看向目标方块；上坡自动跳跃；卡住自动检测并停止报错。
-- 行走只用客户端输入（前进/跳跃键 + 平滑转向），路径按“已铺设节点”推进，不会踩空。
+- 放置节奏 200ms 一次；放置前自动看向目标方块；上坡自动跳跃；卡住自动检测。
 
 ## 代码结构
 
 ```text
 com.autorail
-├─ AutoRailClient          # 入口：R+T 组合键 + 每 tick 驱动服务
-├─ gui/AutoRailScreen      # 菜单：起点/终点/途径点输入与状态显示
-├─ service/AutoRailService # 状态机：PLANNING → LAYING → DONE/FAILED
-├─ service/RailExecutor    # 执行器：行走控制 + 合法放置铁轨/圆石
-└─ pathing/                # 内置寻路：RailPathfinder(A*)、RailStep、CoordParser
+├─ AutoRailClient              # 入口：R+T 组合键 + 每 tick 驱动服务
+├─ gui/AutoRailScreen          # 主菜单：起点/终点/途径点 + 设置入口
+├─ gui/AutoRailSettingsScreen  # 设置：放置规则 / 预案 / 安全阈值
+├─ config/AutoRailConfig       # Gson 持久化配置（config/autorail.json）
+├─ service/AutoRailService     # 状态机：PLANNING → WALKING → LAYING → DONE/FAILED
+├─ service/RailExecutor        # 执行器：行走控制 + 合法放置铁轨/圆石/火把
+├─ service/WalkExecutor        # 步行执行器：把玩家带到远处起点
+├─ service/AutonomyController  # 自主行为：自动进食 / 低血量避险
+├─ service/RailPlan            # 把间隔规则展开成逐节点放置计划
+└─ pathing/                    # 内置寻路：RailPathfinder、WalkPathfinder、RailStep、CoordParser
 ```
 
 ## 开发
@@ -45,8 +76,9 @@ gradlew build          # 产物在 build/libs/autorail-<version>.jar
 
 ## 已知限制
 
-- 只铺普通铁轨（`minecraft:rail`），不铺动力铁轨/探测铁轨。
-- 不破坏、不放置除铁轨/圆石外的方块：遇到障碍会绕路而不是挖穿。
-- 起始点必须在玩家附近（水平 6 格、垂直 8 格以内）——本模组不含到远处的自由行走导航。
-- 遇水会垫圆石架桥，但岩浆列直接视为不可通行。
+- 复用既有铁轨不校验类型：老线路上的普通铁轨不会自动升级为动力铁轨。
+- 不破坏、不放置除铁轨/圆石/红石火把外的方块：遇到障碍会绕路而不是挖穿。
+- 遇水会垫圆石架桥，岩浆列视为不可通行。
+- 红石火把在支撑方块侧面放置；若点位被后续地形占用，该处动力轨无供电（线路仍连通）。
+- 自动进食吃的是快捷栏里的食物；食物全靠自带，模组不会杀生取食。
 - 基于客户端世界状态判定；服务器延迟时个别放置会失败，会自动重试。
diff --git a/src/main/java/com/autorail/config/AutoRailConfig.java b/src/main/java/com/autorail/config/AutoRailConfig.java
new file mode 100644
index 0000000..8207871
--- /dev/null
+++ b/src/main/java/com/autorail/config/AutoRailConfig.java
@@ -0,0 +1,85 @@
+package com.autorail.config;
+
+import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
+import net.fabricmc.loader.api.FabricLoader;
+
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+
+/**
+ * 模组配置（Gson 持久化到 config/autorail.json）。
+ *
+ * 放置规则（动力铁轨/探测铁轨/红石火把）由用户在 GUI 里调整后保存。
+ * 用户属性可随时覆盖加载后的配置（不要直接改字段）。
+ */
+public class AutoRailConfig {
+
+    private static final Gson GSON = new GsonBuilder().setPrettyPrinting().create();
+    private static final String FILE_NAME = "autorail.json";
+
+    // ===== 放置规则 =====
+    /** 每 N 格普通铁轨放 1 根动力铁轨（1 = 每 2 格 1 根，即标准满速线），<=0 表示不放。 */
+    public int poweredEvery = 16;
+    /** 每 N 格普通铁轨放 1 个探测铁轨（<=0 表示不放）。 */
+    public int detectorEvery = 0;
+    /** 每 N 格动力铁轨旁放 1 支红石火把（<=0 表示不放）。 */
+    public int torchEvery = 12;
+
+    // ===== 材料不足预案 =====
+    /** 材料不足时：WAIT（原地等待补充）或 SKIP（跳过特殊件继续铺）。 */
+    public MissingPolicy missingPolicy = MissingPolicy.WAIT;
+    /** WAIT 策略下最长等待秒数，超时自动停止。 */
+    public int maxWaitSeconds = 60;
+
+    // ===== 安全 =====
+    /** 生命值低于该值（0-20）进入紧急避险，<=0 关闭。 */
+    public float lowHealthThreshold = 6.0f;
+    /** 饥饿值低于该值（0-20）开始进食，<=0 关闭。 */
+    public int eatBelow = 16;
+
+    // ===== 保存 / 加载 =====
+
+    private static AutoRailConfig instance;
+
+    public static AutoRailConfig get() {
+        if (instance == null) {
+            instance = load();
+        }
+        return instance;
+    }
+
+    /** 测试与覆盖加载用。 */
+    public static void setInstance(AutoRailConfig cfg) {
+        instance = cfg;
+    }
+
+    private static Path file() {
+        return FabricLoader.getInstance().getConfigDir().resolve(FILE_NAME);
+    }
+
+    public static AutoRailConfig load() {
+        Path f = file();
+        if (Files.exists(f)) {
+            try {
+                String json = Files.readString(f, StandardCharsets.UTF_8);
+                return GSON.fromJson(json, AutoRailConfig.class);
+            } catch (Exception e) {
+                // 配置文件损坏时退回默认值，不让模组崩掉
+            }
+        }
+        return new AutoRailConfig();
+    }
+
+    public void save() {
+        try {
+            Path f = file();
+            Files.createDirectories(f.getParent());
+            Files.writeString(f, GSON.toJson(this), StandardCharsets.UTF_8);
+        } catch (IOException ignored) {
+            // 保存失败不影响游戏；下次改动会重试
+        }
+    }
+}
diff --git a/src/main/java/com/autorail/config/MissingPolicy.java b/src/main/java/com/autorail/config/MissingPolicy.java
new file mode 100644
index 0000000..6c6c912
--- /dev/null
+++ b/src/main/java/com/autorail/config/MissingPolicy.java
@@ -0,0 +1,10 @@
+package com.autorail.config;
+
+/**
+ * 材料不足时的预案（用户可配置）。
+ * WAIT：原地等待玩家补充材料；SKIP：跳过该特殊件继续铺普通铁轨。
+ */
+public enum MissingPolicy {
+    WAIT,
+    SKIP
+}
diff --git a/src/main/java/com/autorail/gui/AutoRailScreen.java b/src/main/java/com/autorail/gui/AutoRailScreen.java
index 1be37a3..a947b1d 100644
--- a/src/main/java/com/autorail/gui/AutoRailScreen.java
+++ b/src/main/java/com/autorail/gui/AutoRailScreen.java
@@ -91,12 +91,15 @@ public class AutoRailScreen extends Screen {
 
         btnY = this.height - 52;
         beginBtn = addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.begin"), b -> onBegin())
-                .dimensions(cx - 141, btnY, 90, 20).build());
+                .dimensions(cx - 187, btnY, 90, 20).build());
         stopBtn = addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.stop"), b -> {
             AutoRailClient.SERVICE.stop(this.client == null ? null : this.client.player);
-        }).dimensions(cx - 45, btnY, 90, 20).build());
+        }).dimensions(cx - 91, btnY, 90, 20).build());
         addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.close"), b -> close())
-                .dimensions(cx + 51, btnY, 90, 20).build());
+                .dimensions(cx + 5, btnY, 90, 20).build());
+        addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.settings"), b -> {
+            this.client.setScreen(new AutoRailSettingsScreen(this));
+        }).dimensions(cx + 101, btnY, 90, 20).build());
 
         statusY = this.height - 30;
         hintY = this.height - 18;
@@ -118,10 +121,17 @@ public class AutoRailScreen extends Screen {
         beginBtn.active = st == AutoRailService.State.IDLE
                 || st == AutoRailService.State.FAILED
                 || st == AutoRailService.State.DONE;
-        stopBtn.active = st == AutoRailService.State.PLANNING || st == AutoRailService.State.LAYING;
+        stopBtn.active = st == AutoRailService.State.PLANNING
+                || st == AutoRailService.State.WALK_PLANNING
+                || st == AutoRailService.State.WALKING
+                || st == AutoRailService.State.LAYING;
         addBtn.active = waypointTexts.size() < Math.min(MAX_WAYPOINTS, Math.max(1, maxVisible));
-        // 寻路完成进入铺设时自动关闭界面（行走需要关闭界面）
-        if (prevState == AutoRailService.State.PLANNING && st == AutoRailService.State.LAYING) {
+        // 规划/步行完成进入铺设时自动关闭界面（行走需要关闭界面）
+        boolean busy = st == AutoRailService.State.LAYING;
+        boolean wasBusy = prevState == AutoRailService.State.LAYING;
+        if (!wasBusy && busy && prevState != AutoRailService.State.IDLE
+                && prevState != AutoRailService.State.DONE
+                && prevState != AutoRailService.State.FAILED) {
             this.client.setScreen(null);
             return;
         }
@@ -139,12 +149,6 @@ public class AutoRailScreen extends Screen {
         var world = this.client.world;
         try {
             BlockPos start = CoordParser.parse(startText.isBlank() ? "~" : startText, player, world);
-            double dx = start.getX() - player.getBlockX();
-            double dz = start.getZ() - player.getBlockZ();
-            if (dx * dx + dz * dz > 36 || Math.abs(start.getY() - player.getBlockY()) > 8) {
-                error = Text.translatable("autorail.err.startFar");
-                return;
-            }
             BlockPos dest = CoordParser.parse(destText, player, world);
             List<BlockPos> cps = new ArrayList<>();
             cps.add(start);
diff --git a/src/main/java/com/autorail/gui/AutoRailSettingsScreen.java b/src/main/java/com/autorail/gui/AutoRailSettingsScreen.java
new file mode 100644
index 0000000..20ba022
--- /dev/null
+++ b/src/main/java/com/autorail/gui/AutoRailSettingsScreen.java
@@ -0,0 +1,170 @@
+package com.autorail.gui;
+
+import com.autorail.config.AutoRailConfig;
+import com.autorail.config.MissingPolicy;
+import net.minecraft.client.gui.DrawContext;
+import net.minecraft.client.gui.screen.Screen;
+import net.minecraft.client.gui.widget.ButtonWidget;
+import net.minecraft.client.gui.widget.TextFieldWidget;
+import net.minecraft.text.Text;
+
+/**
+ * 设置界面：放置规则（动力轨/探测轨/火把间隔）、材料不足预案、安全阈值。
+ * 点“保存”写入 config/autorail.json 并返回主菜单。
+ */
+public class AutoRailSettingsScreen extends Screen {
+
+    private static final int FIELD_W = 150;
+    private static final int FIELD_H = 18;
+
+    private final Screen parent;
+    private Text error;
+
+    private TextFieldWidget poweredField;
+    private TextFieldWidget detectorField;
+    private TextFieldWidget torchField;
+    private TextFieldWidget lowHealthField;
+    private TextFieldWidget eatBelowField;
+    private TextFieldWidget maxWaitField;
+    private ButtonWidget policyBtn;
+    private MissingPolicy policySel;
+    private AutoRailConfig cfg;
+
+    private int rowY(int r) {
+        return 56 + r * 26;
+    }
+
+    public AutoRailSettingsScreen(Screen parent) {
+        super(Text.translatable("autorail.gui.settings.title"));
+        this.parent = parent;
+    }
+
+    @Override
+    protected void init() {
+        cfg = AutoRailConfig.get();
+        policySel = cfg.missingPolicy;
+        int cx = this.width / 2;
+        int lx = cx - FIELD_W - 12;
+        int rx = cx + 12;
+
+        poweredField = addNum(lx, rowY(0), "autorail.gui.settings.powered", cfg.poweredEvery);
+        detectorField = addNum(rx, rowY(0), "autorail.gui.settings.detector", cfg.detectorEvery);
+        torchField = addNum(lx, rowY(1), "autorail.gui.settings.torch", cfg.torchEvery);
+        lowHealthField = addNum(lx, rowY(2), "autorail.gui.settings.lowHealth", Math.round(cfg.lowHealthThreshold));
+        eatBelowField = addNum(rx, rowY(1), "autorail.gui.settings.eatBelow", cfg.eatBelow);
+        maxWaitField = addNum(rx, rowY(2), "autorail.gui.settings.maxWait", cfg.maxWaitSeconds);
+
+        policyBtn = addDrawableChild(ButtonWidget.builder(policyLabel(), b -> {
+            policySel = policySel == MissingPolicy.WAIT ? MissingPolicy.SKIP : MissingPolicy.WAIT;
+            policyBtn.setMessage(policyLabel());
+        }).dimensions(lx, rowY(3), FIELD_W, FIELD_H).build());
+
+        int btnY = this.height - 46;
+        addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.settings.save"), b -> onSave())
+                .dimensions(cx - 141, btnY, 90, 20).build());
+        addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.close"), b -> close())
+                .dimensions(cx - 45, btnY, 90, 20).build());
+        addDrawableChild(ButtonWidget.builder(Text.translatable("autorail.gui.settings.reset"), b -> onReset())
+                .dimensions(cx + 51, btnY, 90, 20).build());
+    }
+
+    private TextFieldWidget addNum(int x, int y, String labelKey, int value) {
+        TextFieldWidget f = new TextFieldWidget(this.textRenderer, x, y, FIELD_W, FIELD_H,
+                Text.translatable(labelKey));
+        f.setText(String.valueOf(value));
+        return addDrawableChild(f);
+    }
+
+    private Text policyLabel() {
+        return Text.translatable(policySel == MissingPolicy.WAIT
+                ? "autorail.gui.settings.policyWait" : "autorail.gui.settings.policySkip");
+    }
+
+    private void onSave() {
+        error = null;
+        try {
+            int powered = clamp(parse(poweredField), 0, 64);
+            int detector = clamp(parse(detectorField), 0, 64);
+            int torch = clamp(parse(torchField), 0, 64);
+            int lowHealth = clamp(parse(lowHealthField), 0, 20);
+            int eatBelow = clamp(parse(eatBelowField), 0, 19);
+            int maxWait = clamp(parse(maxWaitField), 10, 600);
+            if (powered > 0 && torch > 0 && torch > powered) {
+                throw err();
+            }
+            cfg.poweredEvery = powered;
+            cfg.detectorEvery = detector;
+            cfg.torchEvery = powered > 0 ? torch : 0;
+            cfg.lowHealthThreshold = lowHealth;
+            cfg.eatBelow = eatBelow;
+            cfg.maxWaitSeconds = maxWait;
+            cfg.missingPolicy = policySel;
+            cfg.save();
+            close();
+        } catch (NumberFormatException e) {
+            error = Text.translatable("autorail.gui.settings.badNumber");
+        }
+    }
+
+    private void onReset() {
+        AutoRailConfig def = new AutoRailConfig();
+        poweredField.setText(String.valueOf(def.poweredEvery));
+        detectorField.setText(String.valueOf(def.detectorEvery));
+        torchField.setText(String.valueOf(def.torchEvery));
+        lowHealthField.setText(String.valueOf(Math.round(def.lowHealthThreshold)));
+        eatBelowField.setText(String.valueOf(def.eatBelow));
+        maxWaitField.setText(String.valueOf(def.maxWaitSeconds));
+        policySel = def.missingPolicy;
+        policyBtn.setMessage(policyLabel());
+    }
+
+    private static NumberFormatException err() {
+        return new NumberFormatException("torch > powered");
+    }
+
+    private static int parse(TextFieldWidget f) throws NumberFormatException {
+        return Integer.parseInt(f.getText().trim());
+    }
+
+    private static int clamp(int v, int min, int max) {
+        return Math.max(min, Math.min(max, v));
+    }
+
+    @Override
+    public void close() {
+        if (this.client != null) {
+            this.client.setScreen(parent);
+        }
+    }
+
+    @Override
+    public void render(DrawContext context, int mouseX, int mouseY, float delta) {
+        super.render(context, mouseX, mouseY, delta);
+        int cx = this.width / 2;
+        context.drawCenteredTextWithShadow(this.textRenderer, this.title, cx, 16, 0xFFFFFF);
+        context.drawCenteredTextWithShadow(this.textRenderer,
+                Text.translatable("autorail.gui.settings.hint"), cx, 30, 0xA0A0A0);
+        int lx = cx - FIELD_W - 12;
+        int rx = cx + 12;
+        drawLabel(context, "autorail.gui.settings.powered", lx, rowY(0));
+        drawLabel(context, "autorail.gui.settings.detector", rx, rowY(0));
+        drawLabel(context, "autorail.gui.settings.torch", lx, rowY(1));
+        drawLabel(context, "autorail.gui.settings.eatBelow", rx, rowY(1));
+        drawLabel(context, "autorail.gui.settings.lowHealth", lx, rowY(2));
+        drawLabel(context, "autorail.gui.settings.maxWait", rx, rowY(2));
+        drawLabel(context, "autorail.gui.settings.missingPolicy", lx, rowY(3));
+        context.drawTextWithShadow(this.textRenderer, policyLabel(), lx, rowY(3) + FIELD_H + 3, 0x808080);
+        Text st = error != null ? error : Text.translatable("autorail.gui.settings.saved");
+        context.drawCenteredTextWithShadow(this.textRenderer, st, cx, this.height - 58,
+                error != null ? 0xFF5555 : 0x808080);
+    }
+
+    private void drawLabel(DrawContext context, String key, int x, int y) {
+        context.drawTextWithShadow(this.textRenderer, Text.translatable(key), x, y - 11, 0xE0E0E0);
+    }
+
+    @Override
+    public boolean shouldPause() {
+        return false;
+    }
+}
diff --git a/src/main/java/com/autorail/pathing/RailPathfinder.java b/src/main/java/com/autorail/pathing/RailPathfinder.java
index 94f1fd4..7d764b3 100644
--- a/src/main/java/com/autorail/pathing/RailPathfinder.java
+++ b/src/main/java/com/autorail/pathing/RailPathfinder.java
@@ -83,6 +83,11 @@ public class RailPathfinder {
         return opened;
     }
 
+    /** 路径起点（供“自动走近起点”功能作为步行目标）；无结果时为 null。 */
+    public BlockPos getWalkTarget() {
+        return result.isEmpty() ? null : result.get(0).railPos();
+    }
+
     /** 每帧调用一次，最多展开 budget 个节点。 */
     public void step(int budget) {
         if (state != State.RUNNING) {
diff --git a/src/main/java/com/autorail/pathing/WalkPathfinder.java b/src/main/java/com/autorail/pathing/WalkPathfinder.java
new file mode 100644
index 0000000..c2c27c2
--- /dev/null
+++ b/src/main/java/com/autorail/pathing/WalkPathfinder.java
@@ -0,0 +1,215 @@
+package com.autorail.pathing;
+
+import net.minecraft.block.BlockState;
+import net.minecraft.block.Blocks;
+import net.minecraft.client.world.ClientWorld;
+import net.minecraft.registry.tag.FluidTags;
+import net.minecraft.util.math.BlockPos;
+import net.minecraft.util.math.Direction;
+
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.PriorityQueue;
+
+/**
+ * 自动走到远处的起始点：内置 A* 步行寻路（4 向 + 跳 1 格 + 落 3 格 + 可涉水）。
+ *
+ * 与铺轨寻路解耦：先走过去，再从起点开始铺轨；走不到则明确报错让用户手动接近。
+ */
+public class WalkPathfinder {
+
+    public enum State { RUNNING, FOUND, FAILED }
+
+    private static final int MARGIN = 32;
+    private static final long MAX_EXPANSIONS = 200_000L;
+    private static final float COST_JUMP = 1.7f;
+    private static final float COST_WATER = 0.8f;
+
+    private final ClientWorld world;
+    private final BlockPos start;
+    private final BlockPos goal;
+
+    private final PriorityQueue<Node> open = new PriorityQueue<>(Comparator.comparingDouble(n -> n.f));
+    private final Map<Long, Node> best = new HashMap<>();
+    private final List<BlockPos> result = new ArrayList<>();
+
+    private State state = State.RUNNING;
+    private String failKey;
+    private long expansions;
+    private int opened;
+
+    private int minX, minY, minZ, maxX, maxY, maxZ;
+
+    public WalkPathfinder(ClientWorld world, BlockPos start, BlockPos goal) {
+        this.world = world;
+        this.start = start.toImmutable();
+        this.goal = goal.toImmutable();
+        computeRegion();
+        Node s = new Node(this.start, null, 0f, h(this.start));
+        best.put(this.start.asLong(), s);
+        open.add(s);
+        opened++;
+    }
+
+    public State getState() {
+        return state;
+    }
+
+    public String getFailKey() {
+        return failKey;
+    }
+
+    public List<BlockPos> getResult() {
+        return result;
+    }
+
+    public int getOpened() {
+        return opened;
+    }
+
+    /** 每帧分片执行，最多展开 budget 个节点，不卡客户端线程。 */
+    public void step(int budget) {
+        if (state != State.RUNNING) {
+            return;
+        }
+        for (int b = 0; b < budget; b++) {
+            Node cur = poll();
+            if (cur == null) {
+                fail("autorail.err.walkFail");
+                return;
+            }
+            if (cur.pos.equals(goal)) {
+                rebuild(cur);
+                state = State.FOUND;
+                return;
+            }
+            expand(cur);
+            if (++expansions > MAX_EXPANSIONS) {
+                fail("autorail.err.walkFail");
+                return;
+            }
+        }
+    }
+
+    private Node poll() {
+        while (true) {
+            Node n = open.poll();
+            if (n == null) {
+                return null;
+            }
+            if (best.get(n.pos.asLong()) == n) {
+                return n;
+            }
+        }
+    }
+
+    private void expand(Node cur) {
+        for (Direction d : Direction.Type.HORIZONTAL) {
+            BlockPos base = cur.pos.offset(d);
+            // 跳上 1 格
+            if (passHead(cur.pos.up(2))) {
+                tryMove(cur, base.up(), COST_JUMP, true);
+            }
+            // 平走 / 涉水
+            tryMove(cur, base, 1.0f, false);
+            // 落下 1-3 格
+            for (int f = 1; f <= 3; f++) {
+                tryMove(cur, base.down(f), 1.0f + 0.25f * f, false);
+            }
+        }
+    }
+
+    private void tryMove(Node cur, BlockPos target, float baseCost, boolean jump) {
+        if (!inRegion(target) || !walkable(target) || !passHead(target.up())) {
+            return;
+        }
+        BlockState sup = world.getBlockState(target.down());
+        boolean solid = sup.isSolidBlock(world, target.down());
+        boolean water = sup.getFluidState().isIn(FluidTags.WATER);
+        if (!solid && !water) {
+            return;
+        }
+        if (jump && !solid) {
+            return; // 跳跃必须落在实心方块上
+        }
+        float cost = baseCost;
+        if (world.getBlockState(target).getFluidState().isIn(FluidTags.WATER)) {
+            cost += COST_WATER;
+        }
+        float g = cur.g + cost;
+        long key = target.asLong();
+        Node old = best.get(key);
+        if (old == null || g < old.g - 1.0e-4f) {
+            Node n = new Node(target, cur, g, g + h(target));
+            best.put(key, n);
+            open.add(n);
+            opened++;
+        }
+    }
+
+    private void rebuild(Node goalNode) {
+        result.clear();
+        for (Node n = goalNode; n != null; n = n.parent) {
+            result.add(n.pos);
+        }
+        java.util.Collections.reverse(result);
+    }
+
+    private void computeRegion() {
+        minX = Math.min(start.getX(), goal.getX()) - MARGIN;
+        maxX = Math.max(start.getX(), goal.getX()) + MARGIN;
+        minZ = Math.min(start.getZ(), goal.getZ()) - MARGIN;
+        maxZ = Math.max(start.getZ(), goal.getZ()) + MARGIN;
+        minY = Math.max(world.getBottomY() + 1, Math.min(start.getY(), goal.getY()) - MARGIN);
+        maxY = Math.min(world.getTopYInclusive() - 2, Math.max(start.getY(), goal.getY()) + MARGIN);
+    }
+
+    private boolean inRegion(BlockPos p) {
+        return p.getX() >= minX && p.getX() <= maxX
+                && p.getY() >= minY && p.getY() <= maxY
+                && p.getZ() >= minZ && p.getZ() <= maxZ;
+    }
+
+    private float h(BlockPos p) {
+        return 1.0f * (Math.abs(p.getX() - goal.getX())
+                + Math.abs(p.getY() - goal.getY())
+                + Math.abs(p.getZ() - goal.getZ()));
+    }
+
+    private void fail(String key) {
+        failKey = key;
+        state = State.FAILED;
+    }
+
+    /** 站立格：空气 / 可替换 / 铁轨（无碰撞）/ 水。岩浆不可走。 */
+    private boolean walkable(BlockPos pos) {
+        BlockState s = world.getBlockState(pos);
+        return s.isAir()
+                || (s.getFluidState().isEmpty() && s.isReplaceable())
+                || s.isOf(Blocks.RAIL)
+                || s.isOf(Blocks.POWERED_RAIL)
+                || s.isOf(Blocks.DETECTOR_RAIL)
+                || s.getFluidState().isIn(FluidTags.WATER);
+    }
+
+    private boolean passHead(BlockPos pos) {
+        return walkable(pos);
+    }
+
+    private static final class Node {
+        final BlockPos pos;
+        final Node parent;
+        final float g;
+        final float f;
+
+        Node(BlockPos pos, Node parent, float g, float f) {
+            this.pos = pos;
+            this.parent = parent;
+            this.g = g;
+            this.f = f;
+        }
+    }
+}
diff --git a/src/main/java/com/autorail/service/AutoRailService.java b/src/main/java/com/autorail/service/AutoRailService.java
index 54f7238..d8ff2f2 100644
--- a/src/main/java/com/autorail/service/AutoRailService.java
+++ b/src/main/java/com/autorail/service/AutoRailService.java
@@ -1,7 +1,9 @@
 package com.autorail.service;
 
+import com.autorail.config.AutoRailConfig;
 import com.autorail.pathing.RailPathfinder;
 import com.autorail.pathing.RailStep;
+import com.autorail.pathing.WalkPathfinder;
 import net.minecraft.client.MinecraftClient;
 import net.minecraft.client.network.ClientPlayerEntity;
 import net.minecraft.client.world.ClientWorld;
@@ -12,19 +14,30 @@ import java.util.List;
 
 /**
  * 铺轨调度服务（单例，GUI 与执行逻辑的桥梁）。
- * 状态机：PLANNING（分片寻路）→ LAYING（行走铺轨）→ DONE / FAILED。
+ * 状态机：
+ * PLANNING（分片铁轨寻路）→ WALK_PLANNING → WALKING（自动走到远处起点）
+ * → LAYING（行走铺轨）→ DONE / FAILED。
+ * LAYING 期间自主行为（低血量避险、饥饿进食）由 {@link AutonomyController} 接管。
  */
 public class AutoRailService {
 
-    public enum State { IDLE, PLANNING, LAYING, DONE, FAILED }
+    public enum State { IDLE, PLANNING, WALK_PLANNING, WALKING, LAYING, DONE, FAILED }
 
     /** 每 tick 寻路展开预算（节点数）。 */
     private static final int PLAN_BUDGET_PER_TICK = 4096;
+    private static final int WALK_BUDGET_PER_TICK = 2048;
+    /** 起点离玩家超过该水平距离时，先自动走过去（平方）。 */
+    private static final double WALK_TRIGGER_SQ = 16;
 
     private State state = State.IDLE;
     private RailPathfinder planner;
+    private RailPlan plan;
     private RailExecutor executor;
+    private WalkPathfinder walkPlanner;
+    private WalkExecutor walker;
+    private final AutonomyController autonomy = new AutonomyController();
     private String failKey;
+    private boolean wasWaiting;
 
     public State getState() {
         return state;
@@ -32,8 +45,13 @@ public class AutoRailService {
 
     public void begin(ClientWorld world, ClientPlayerEntity player, List<BlockPos> checkpoints) {
         planner = new RailPathfinder(world, checkpoints);
+        plan = null;
         executor = null;
+        walkPlanner = null;
+        walker = null;
         failKey = null;
+        wasWaiting = false;
+        autonomy.releaseKeys(client());
         state = State.PLANNING;
         chat(player, "autorail.msg.plan.start", checkpoints.size());
     }
@@ -42,17 +60,28 @@ public class AutoRailService {
         if (executor != null) {
             executor.releaseKeys();
         }
-        boolean wasActive = state == State.PLANNING || state == State.LAYING;
+        if (walker != null) {
+            walker.releaseKeys();
+        }
+        autonomy.releaseKeys(client());
+        boolean wasActive = state != State.IDLE && state != State.DONE && state != State.FAILED;
         planner = null;
+        plan = null;
         executor = null;
+        walkPlanner = null;
+        walker = null;
         state = State.IDLE;
         if (wasActive && player != null) {
             chat(player, "autorail.msg.stopped");
         }
     }
 
+    private static MinecraftClient client() {
+        return MinecraftClient.getInstance();
+    }
+
     public void tick(MinecraftClient client) {
-        if (state != State.PLANNING && state != State.LAYING) {
+        if (state == State.IDLE || state == State.DONE || state == State.FAILED) {
             return;
         }
         ClientPlayerEntity player = client.player;
@@ -61,26 +90,101 @@ public class AutoRailService {
             hardStop();
             return;
         }
-        if (state == State.PLANNING) {
-            planner.step(PLAN_BUDGET_PER_TICK);
-            if (planner.getState() == RailPathfinder.State.FOUND) {
-                List<RailStep> steps = planner.getResult();
-                executor = new RailExecutor(world, steps);
-                state = State.LAYING;
-                chat(player, "autorail.msg.plan.done", steps.size());
-            } else if (planner.getState() == RailPathfinder.State.FAILED) {
-                failKey = planner.getFailKey();
-                state = State.FAILED;
-                chat(player, failKey);
+        AutoRailConfig cfg = AutoRailConfig.get();
+
+        // 自主行为（紧急避险/自动进食）优先：接管本 tick，铺轨暂停
+        String act = autonomy.tick(client, player, cfg);
+        if (act != null) {
+            if (executor != null) {
+                executor.releaseKeys();
+            }
+            if (walker != null) {
+                walker.releaseKeys();
+            }
+            if ("flee".equals(act) && wasActiveState()) {
+                chat(player, "autorail.msg.flee");
+            } else if ("eat".equals(act) && wasActiveState()) {
+                chatThrottled(player, "autorail.msg.eat");
             }
             return;
         }
+        if (autonomy.wasFleeing()) {
+            chat(player, "autorail.msg.fleeDone");
+        }
+
+        switch (state) {
+            case PLANNING -> tickPlanning(client, player);
+            case WALK_PLANNING -> tickWalkPlanning(client);
+            case WALKING -> tickWalking(client);
+            case LAYING -> tickLaying(client, player);
+            default -> { }
+        }
+    }
+
+    private boolean wasActiveState() {
+        return state == State.PLANNING || state == State.WALK_PLANNING
+                || state == State.WALKING || state == State.LAYING;
+    }
+
+    private void tickPlanning(MinecraftClient client, ClientPlayerEntity player) {
+        planner.step(PLAN_BUDGET_PER_TICK);
+        if (planner.getState() == RailPathfinder.State.FOUND) {
+            List<RailStep> steps = planner.getResult();
+            plan = RailPlan.plan(steps, client.world, AutoRailConfig.get());
+            executor = new RailExecutor(client.world, steps, plan, AutoRailConfig.get());
+            BlockPos walkTarget = planner.getWalkTarget();
+            if (walkTarget != null && isFar(player, walkTarget)) {
+                // 起点较远：先自动走过去
+                walkPlanner = new WalkPathfinder(client.world, player.getBlockPos(), walkTarget);
+                state = State.WALK_PLANNING;
+                chat(player, "autorail.msg.walk.start");
+            } else {
+                state = State.LAYING;
+                chat(player, "autorail.msg.plan.done", steps.size());
+            }
+        } else if (planner.getState() == RailPathfinder.State.FAILED) {
+            fail(client.player, planner.getFailKey());
+        }
+    }
+
+    private void tickWalkPlanning(MinecraftClient client) {
+        walkPlanner.step(WALK_BUDGET_PER_TICK);
+        if (walkPlanner.getState() == WalkPathfinder.State.FOUND) {
+            walker = new WalkExecutor(client.world, walkPlanner.getResult());
+            walkPlanner = null;
+            state = State.WALKING;
+        } else if (walkPlanner.getState() == WalkPathfinder.State.FAILED) {
+            fail(client.player, walkPlanner.getFailKey() != null
+                    ? walkPlanner.getFailKey() : "autorail.err.walkFail");
+        }
+    }
+
+    private void tickWalking(MinecraftClient client) {
+        walker.tick(client);
+        if (walker.isArrived()) {
+            walker.releaseKeys();
+            walker = null;
+            state = State.LAYING;
+            chat(client.player, "autorail.msg.walk.done");
+        } else if (walker.isFailed()) {
+            fail(client.player, walker.getFailKey() != null
+                    ? walker.getFailKey() : "autorail.err.walkFail");
+        }
+    }
+
+    private void tickLaying(MinecraftClient client, ClientPlayerEntity player) {
         executor.tick(client);
+        // 材料等待状态提示
+        boolean waiting = executor.isWaiting();
+        if (waiting && !wasWaiting) {
+            chat(player, "autorail.msg.waiting");
+        } else if (!waiting && wasWaiting) {
+            chat(player, "autorail.msg.waitingDone");
+        }
+        wasWaiting = waiting;
         if (executor.isFinished()) {
             if (executor.getFailKey() != null) {
-                failKey = executor.getFailKey();
-                state = State.FAILED;
-                chat(player, failKey);
+                fail(player, executor.getFailKey());
             } else {
                 state = State.DONE;
                 chat(player, "autorail.msg.lay.done", executor.getTotal());
@@ -88,23 +192,65 @@ public class AutoRailService {
         }
     }
 
+    private static boolean isFar(ClientPlayerEntity player, BlockPos target) {
+        double dx = target.getX() + 0.5 - player.getX();
+        double dz = target.getZ() + 0.5 - player.getZ();
+        return dx * dx + dz * dz > WALK_TRIGGER_SQ
+                || Math.abs(target.getY() - player.getBlockY()) > 6;
+    }
+
     private void hardStop() {
         if (executor != null) {
             executor.releaseKeys();
         }
+        if (walker != null) {
+            walker.releaseKeys();
+        }
+        autonomy.releaseKeys(client());
         planner = null;
+        plan = null;
         executor = null;
+        walkPlanner = null;
+        walker = null;
         state = State.IDLE;
     }
 
+    private void fail(ClientPlayerEntity player, String key) {
+        failKey = key;
+        state = State.FAILED;
+        if (executor != null) {
+            executor.releaseKeys();
+        }
+        if (walker != null) {
+            walker.releaseKeys();
+        }
+        autonomy.releaseKeys(client());
+        if (player != null) {
+            chat(player, key);
+        }
+    }
+
     /** GUI 底部状态行。 */
     public Text statusText() {
         return switch (state) {
             case IDLE -> Text.translatable("autorail.gui.status.idle");
             case PLANNING -> Text.translatable("autorail.gui.status.planning",
                     planner == null ? 0 : planner.getOpened());
-            case LAYING -> executor == null ? Text.translatable("autorail.gui.status.idle")
-                    : Text.translatable("autorail.gui.status.laying", executor.getPlaced(), executor.getTotal());
+            case WALK_PLANNING -> Text.translatable("autorail.gui.status.walkPlanning",
+                    walkPlanner == null ? 0 : walkPlanner.getOpened());
+            case WALKING -> walker == null ? Text.translatable("autorail.gui.status.idle")
+                    : Text.translatable("autorail.gui.status.walking", walker.getIdx(), walker.getTotal());
+            case LAYING -> {
+                if (executor == null) {
+                    yield Text.translatable("autorail.gui.status.idle");
+                }
+                if (executor.isWaiting()) {
+                    long sec = executor.getWaitSeconds();
+                    yield Text.translatable("autorail.gui.status.waiting", sec);
+                }
+                yield Text.translatable("autorail.gui.status.laying",
+                        executor.getPlaced(), executor.getTotal());
+            }
             case DONE -> executor == null ? Text.translatable("autorail.gui.status.idle")
                     : Text.translatable("autorail.gui.status.done", executor.getTotal());
             case FAILED -> Text.translatable("autorail.gui.status.failed",
@@ -115,4 +261,15 @@ public class AutoRailService {
     private static void chat(ClientPlayerEntity player, String key, Object... args) {
         player.sendMessage(Text.literal("[AutoRail] ").append(Text.translatable(key, args)), false);
     }
+
+    private static void chatThrottled(ClientPlayerEntity player, String key) {
+        // 进食提示最多每 10 秒一次，避免刷屏
+        long now = System.currentTimeMillis() / 1000L;
+        if (now - lastEatMsg >= 10) {
+            lastEatMsg = now;
+            chat(player, key);
+        }
+    }
+
+    private static long lastEatMsg;
 }
diff --git a/src/main/java/com/autorail/service/AutonomyController.java b/src/main/java/com/autorail/service/AutonomyController.java
new file mode 100644
index 0000000..083ee9a
--- /dev/null
+++ b/src/main/java/com/autorail/service/AutonomyController.java
@@ -0,0 +1,176 @@
+package com.autorail.service;
+
+import com.autorail.config.AutoRailConfig;
+import net.minecraft.client.MinecraftClient;
+import net.minecraft.client.network.ClientPlayerEntity;
+import net.minecraft.component.DataComponentTypes;
+import net.minecraft.item.Item;
+import net.minecraft.item.ItemStack;
+import net.minecraft.network.packet.c2s.play.UpdateSelectedSlotC2SPacket;
+import net.minecraft.registry.Registries;
+import net.minecraft.util.Identifier;
+
+import java.util.List;
+
+/**
+ * 玩家自主行为：饥饿自动进食 + 危险时的原地避险（后退 + 跳跃脱离）。
+ * 只做“自救动作”，不做世界修改；所有交互仍是合法右键/键位输入。
+ */
+public final class AutonomyController {
+
+    /** 已知可安全生食/熟食（按优先级；金苹果留到最后，不放最前）。 */
+    private static final List<String> FOOD_PRIORITY = List.of(
+            "minecraft:cooked_beef", "minecraft:cooked_porkchop", "minecraft:cooked_mutton",
+            "minecraft:cooked_chicken", "minecraft:cooked_salmon", "minecraft:cooked_cod",
+            "minecraft:bread", "minecraft:baked_potato", "minecraft:potato", "minecraft:carrot",
+            "minecraft:beetroot", "minecraft:beetroot_soup", "minecraft:mushroom_stew",
+            "minecraft:rabbit_stew", "minecraft:suspicious_stew", "minecraft:apple",
+            "minecraft:golden_carrot", "minecraft:golden_apple", "minecraft:porkchop",
+            "minecraft:beef", "minecraft:mutton", "minecraft:chicken", "minecraft:salmon",
+            "minecraft:cod", "minecraft:tropical_fish", "minecraft:pufferfish", "minecraft:melon_slice",
+            "minecraft:sweet_berries", "minecraft:glow_berries", "minecraft:honey_bottle",
+            "minecraft:cookie", "minecraft:pumpkin_pie", "minecraft:rotten_flesh",
+            "minecraft:spider_eye", "minecraft:dried_kelp"
+    );
+
+    private int eatTicks = -1;
+    private int fleeTicks;
+    private boolean fleeWasActive;
+
+    /**
+     * 每 tick 检查。返回当前执行的自主动作（供状态机显示/决策）：
+     * "eat" / "flee" / null。
+     */
+    public String tick(MinecraftClient client, ClientPlayerEntity player, AutoRailConfig cfg) {
+        fleeWasActive = fleeTicks > 0;
+        // 1) 低血量：紧急避险（松开前进、后退跳跃脱险）
+        if (cfg.lowHealthThreshold > 0 && player.getHealth() <= cfg.lowHealthThreshold) {
+            flee(client);
+            if (eatTicks >= 0) {
+                stopEating(client, player);
+            }
+            return "flee";
+        }
+        // 2) 饥饿：自动进食
+        if (cfg.eatBelow > 0 && player.getHealth() < player.getMaxHealth()
+                && player.getHungerManager().getFoodLevel() <= cfg.eatBelow) {
+            if (eatTicks < 0) {
+                int slot = findFood(player);
+                if (slot >= 0) {
+                    startEating(client, player, slot);
+                }
+            }
+            if (eatTicks >= 0) {
+                continueEating(client, player);
+                return "eat";
+            }
+            return null;
+        }
+        // 血量健康且不饿：如果还在吃就停下
+        if (eatTicks >= 0) {
+            stopEating(client, player);
+        }
+        return null;
+    }
+
+    /** 正在进食时返回 true（铺轨行走需要暂停转向干扰）。 */
+    public boolean isEating() {
+        return eatTicks >= 0;
+    }
+
+    public boolean isFleeing() {
+        return fleeTicks > 0;
+    }
+
+    /** 上一 tick 是否在避险（用于服务层播报“避险结束”）。 */
+    public boolean wasFleeing() {
+        return fleeWasActive;
+    }
+
+    private void startEating(MinecraftClient client, ClientPlayerEntity player, int slot) {
+        player.getInventory().selectedSlot = slot;
+        if (player.networkHandler != null) {
+            player.networkHandler.sendPacket(new UpdateSelectedSlotC2SPacket(slot));
+        }
+        client.options.useKey.setPressed(true);
+        eatTicks = 0;
+    }
+
+    private void continueEating(MinecraftClient client, ClientPlayerEntity player) {
+        eatTicks++;
+        ItemStack stack = player.getMainHandStack();
+        boolean stillFood = stack.contains(DataComponentTypes.FOOD);
+        // 吃完了 / 换手了：重置，下一 tick 重新找
+        if (!stillFood || player.getHungerManager().getFoodLevel() > 20) {
+            stopEating(client, player);
+            return;
+        }
+        // 长按右键吃 1.6s+；期间保持 useKey 按下，玩家速度会自然放缓
+        client.options.useKey.setPressed(true);
+        if (eatTicks > 60) {
+            stopEating(client, player); // 超时保护，避免卡死
+        }
+    }
+
+    private void stopEating(MinecraftClient client, ClientPlayerEntity player) {
+        client.options.useKey.setPressed(false);
+        eatTicks = -1;
+    }
+
+    /** 避险：后撤 + 小跳，持续约 1.5s；期间调用方应暂停铺轨放置。 */
+    private void flee(MinecraftClient client) {
+        ClientPlayerEntity player = client.player;
+        if (player == null) {
+            return;
+        }
+        if (fleeTicks <= 0) {
+            fleeTicks = 30;
+        }
+        fleeTicks--;
+        client.options.forwardKey.setPressed(false);
+        client.options.backKey.setPressed(true);
+        if (player.horizontalCollision || (fleeTicks % 10 == 0 && player.isOnGround())) {
+            client.options.jumpKey.setPressed(true);
+        } else {
+            client.options.jumpKey.setPressed(false);
+        }
+        if (fleeTicks <= 0) {
+            client.options.backKey.setPressed(false);
+            client.options.jumpKey.setPressed(false);
+        }
+    }
+
+    /** 释放避险可能残留的按键。 */
+    public void releaseKeys(MinecraftClient client) {
+        if (client != null && client.options != null) {
+            client.options.backKey.setPressed(false);
+            client.options.useKey.setPressed(false);
+        }
+        eatTicks = -1;
+        fleeTicks = 0;
+        fleeWasActive = false;
+    }
+
+    /** 按优先级在快捷栏找食物，返回槽位；找不到返回 -1。 */
+    private static int findFood(ClientPlayerEntity player) {
+        int fallback = -1;
+        int fallbackRank = Integer.MAX_VALUE;
+        for (int i = 0; i < 9; i++) {
+            ItemStack s = player.getInventory().getStack(i);
+            if (s.isEmpty() || !s.contains(DataComponentTypes.FOOD)) {
+                continue;
+            }
+            Item item = s.getItem();
+            Identifier id = Registries.ITEM.getId(item);
+            int rank = FOOD_PRIORITY.indexOf(id.toString());
+            if (rank < 0) {
+                rank = Integer.MAX_VALUE - 1; // 未知食物兜底（仍可食用）
+            }
+            if (rank < fallbackRank) {
+                fallbackRank = rank;
+                fallback = i;
+            }
+        }
+        return fallback;
+    }
+}
diff --git a/src/main/java/com/autorail/service/RailExecutor.java b/src/main/java/com/autorail/service/RailExecutor.java
index d2f7abd..c5c86f5 100644
--- a/src/main/java/com/autorail/service/RailExecutor.java
+++ b/src/main/java/com/autorail/service/RailExecutor.java
@@ -1,8 +1,9 @@
 package com.autorail.service;
 
+import com.autorail.config.AutoRailConfig;
+import com.autorail.config.MissingPolicy;
 import com.autorail.pathing.RailStep;
 import net.minecraft.block.BlockState;
-import net.minecraft.block.Blocks;
 import net.minecraft.client.MinecraftClient;
 import net.minecraft.client.network.ClientPlayerEntity;
 import net.minecraft.client.world.ClientWorld;
@@ -18,17 +19,23 @@ import net.minecraft.util.math.Vec3d;
 import java.util.List;
 
 /**
- * 铺轨执行器：沿已规划好的路径控制玩家行走，并合法放置铁轨/圆石。
+ * 铺轨执行器：沿已规划好的路径控制玩家行走，并合法放置铁轨/圆石/红石火把。
  *
  * 行走：平滑转向 + 按下前进/跳跃键（客户端输入，服务端正常结算）；
  * 放置：切换快捷栏 + {@code processRightClickBlock} 右键交互，
  * 绝不 world.setBlockState，多人服务器可信任。
  * 玩家只会走在“已完成”的节点上，放置窗口始终领先于行走目标。
+ *
+ * 放置计划（{@link RailPlan}）：动力铁轨/探测铁轨按用户间隔混铺；
+ * 计划中的火把节点先放火把再放铁轨。
+ * 材料不足按用户预案处理：WAIT 原地等待（超时停止）/ SKIP 跳过火把继续铺普通轨。
  */
 public class RailExecutor {
 
     /** 放置动作间隔（tick），4 tick = 200ms，符合多人服务器节奏。 */
     private static final int ACTION_INTERVAL = 4;
+    /** 等待材料时的重试间隔（tick）。 */
+    private static final int WAIT_RETRY_INTERVAL = 20;
     /** 放置距离的平方（略保守于 4.5 格交互距离）。 */
     private static final double REACH_SQ = 4.2 * 4.2;
     /** 一次尝试放置的路径窗口（节点数）。 */
@@ -44,6 +51,8 @@ public class RailExecutor {
 
     private final ClientWorld world;
     private final List<RailStep> path;
+    private final RailPlan plan;
+    private final AutoRailConfig cfg;
     private int cursor;
     private int standIndex;
     private long tickCounter;
@@ -59,9 +68,23 @@ public class RailExecutor {
     private String failKey;
     private boolean finished;
 
-    public RailExecutor(ClientWorld world, List<RailStep> path) {
+    // 等待材料状态
+    private boolean waiting;
+    private long waitTicks;
+    private String waitMsgKey;
+
+    // 火把放置状态：0=未处理 1=已放置 2=已跳过（找不到点位/材料）
+    private byte[] torchState;
+
+    // 避险暂停（由服务层控制，暂停时行走与放置都停）
+    private boolean paused;
+
+    public RailExecutor(ClientWorld world, List<RailStep> path, RailPlan plan, AutoRailConfig cfg) {
         this.world = world;
         this.path = path;
+        this.plan = plan;
+        this.cfg = cfg;
+        this.torchState = new byte[path.size()];
     }
 
     public boolean isFinished() {
@@ -80,6 +103,27 @@ public class RailExecutor {
         return cursor;
     }
 
+    public boolean isWaiting() {
+        return waiting;
+    }
+
+    /** 剩余等待秒数（超时后会失败停止）。 */
+    public long getWaitSeconds() {
+        return Math.max(0L, cfg.maxWaitSeconds - waitTicks / 20L);
+    }
+
+    /** 当前等待提示的语言 key（供 GUI 状态栏显示）。 */
+    public String getWaitMsgKey() {
+        return waitMsgKey;
+    }
+
+    public void setPaused(boolean paused) {
+        this.paused = paused;
+        if (paused) {
+            releaseKeys();
+        }
+    }
+
     public void tick(MinecraftClient client) {
         if (finished || failKey != null) {
             return;
@@ -90,7 +134,25 @@ public class RailExecutor {
         }
         tickCounter++;
 
-        // 1) 推进已完成（已有铁轨）的节点
+        if (paused) {
+            return;
+        }
+
+        // 1) 等待材料：站住不动，定期重试
+        if (waiting) {
+            waitTicks++;
+            if (waitTicks > cfg.maxWaitSeconds * 20L) {
+                fail("autorail.err.waitTimeout");
+                return;
+            }
+            if (tickCounter - lastActionTick >= WAIT_RETRY_INTERVAL) {
+                lastActionTick = tickCounter;
+                tryPlaceWindow(client, player);
+            }
+            return;
+        }
+
+        // 2) 推进已完成（已有铁轨）的节点
         while (cursor < path.size() && isDone(path.get(cursor))) {
             cursor++;
         }
@@ -100,27 +162,16 @@ public class RailExecutor {
             return;
         }
 
-        // 2) 行走（放置阶段会再覆盖朝向到交互点）
+        // 3) 行走（放置阶段会再覆盖朝向到交互点）
         standIndex = findStandIndex(player);
         move(client, player);
 
-        // 3) 放置：窗口内第一个“可达且未完成”的节点
+        // 4) 放置：窗口内第一个“可达且未完成”的节点
         if (tickCounter - lastActionTick >= ACTION_INTERVAL) {
-            for (int i = cursor; i < Math.min(cursor + PLACE_WINDOW, path.size()); i++) {
-                RailStep s = path.get(i);
-                if (isDone(s)) {
-                    continue;
-                }
-                if (player.getEyePos().squaredDistanceTo(Vec3d.ofCenter(s.railPos())) > REACH_SQ) {
-                    continue;
-                }
-                attemptPlace(client, player, i);
-                lastActionTick = tickCounter;
-                break;
-            }
+            tryPlaceWindow(client, player);
         }
 
-        // 4) 卡住 / 停滞检测
+        // 5) 卡住 / 停滞检测
         if (lastNeedMove && player.isOnGround() && speedSq(player) < 2.0e-4) {
             if (stuckSince < 0) {
                 stuckSince = tickCounter;
@@ -145,6 +196,21 @@ public class RailExecutor {
         }
     }
 
+    private void tryPlaceWindow(MinecraftClient client, ClientPlayerEntity player) {
+        for (int i = cursor; i < Math.min(cursor + PLACE_WINDOW, path.size()); i++) {
+            RailStep s = path.get(i);
+            if (isDone(s)) {
+                continue;
+            }
+            if (player.getEyePos().squaredDistanceTo(Vec3d.ofCenter(s.railPos())) > REACH_SQ) {
+                continue;
+            }
+            attemptPlace(client, player, i);
+            lastActionTick = tickCounter;
+            break;
+        }
+    }
+
     /** 行走控制：朝已铺设前方的节点平滑转向并前进，需要上坡时自动跳跃。 */
     private void move(MinecraftClient client, ClientPlayerEntity player) {
         int frontier = cursor - 1; // 最高已完成节点
@@ -176,17 +242,46 @@ public class RailExecutor {
         RailStep s = path.get(i);
         BlockPos rail = s.railPos();
         BlockState at = world.getBlockState(rail);
-        if (!at.isAir() && !at.isReplaceable() && !at.isOf(Blocks.RAIL)) {
+        if (!at.isAir() && !at.isReplaceable() && !RailPlan.isRailDone(at)) {
             fail("autorail.err.blocked");
             return;
         }
 
+        // 1) 火把节点：先放火把（挂在支撑方块侧面），再放动力轨
+        if (plan.needsTorch(i) && torchState[i] == 0) {
+            if (!attemptTorch(client, player, i)) {
+                return;
+            }
+        }
+
+        // 2) 铁轨本体
+        RailPlan.Kind kind = plan.kindAt(i);
+        net.minecraft.item.Item item = switch (kind) {
+            case POWERED_RAIL -> Items.POWERED_RAIL;
+            case DETECTOR_RAIL -> Items.DETECTOR_RAIL;
+            case RAIL -> Items.RAIL;
+        };
+        int slot = findSlot(player, item);
+        if (slot < 0) {
+            // 特殊轨缺失且策略为 SKIP：降级为普通轨；普通轨/其他情况：按预案等待
+            if (handleMissing(item, "autorail.err.noRail", kind != RailPlan.Kind.RAIL)) {
+                slot = findSlot(player, Items.RAIL);
+                if (slot < 0) {
+                    handleMissing(Items.RAIL, "autorail.err.noRail", false);
+                    return;
+                }
+                item = Items.RAIL;
+            } else {
+                return;
+            }
+        }
+
         BlockPos support = rail.down();
         BlockState sup = world.getBlockState(support);
         if (!sup.isSolidBlock(world, support) || !sup.getFluidState().isEmpty()) {
             // 支撑缺失（悬空/水中）：先垫圆石
-            int slot = findSlot(player, Items.COBBLESTONE);
-            if (slot < 0) {
+            int cobbleSlot = findSlot(player, Items.COBBLESTONE);
+            if (cobbleSlot < 0) {
                 fail("autorail.err.noCobble");
                 return;
             }
@@ -195,18 +290,13 @@ public class RailExecutor {
                 fail("autorail.err.noHit");
                 return;
             }
-            selectSlot(player, slot);
+            selectSlot(player, cobbleSlot);
             aimAt(player, hit.getPos());
             client.interactionManager.interactBlock(player, Hand.MAIN_HAND, hit);
             player.swingHand(Hand.MAIN_HAND);
             return;
         }
 
-        int slot = findSlot(player, Items.RAIL);
-        if (slot < 0) {
-            fail("autorail.err.noRail");
-            return;
-        }
         BlockHitResult hit = new BlockHitResult(
                 new Vec3d(support.getX() + 0.5, support.getY() + 1.0, support.getZ() + 0.5),
                 Direction.UP, support, false);
@@ -216,6 +306,64 @@ public class RailExecutor {
         player.swingHand(Hand.MAIN_HAND);
     }
 
+    /**
+     * 在节点 i 的支撑方块侧面放置红石火把（激活相邻的动力铁轨）。
+     *
+     * @return true = 火把已处理（放置成功或标记跳过），可继续放铁轨；false = 本 tick 动作已消耗
+     */
+    private boolean attemptTorch(MinecraftClient client, ClientPlayerEntity player, int i) {
+        RailStep s = path.get(i);
+        BlockPos rail = s.railPos();
+        BlockPos support = rail.down();
+        BlockPos slot = plan.torchSlot(i);
+        BlockState at = world.getBlockState(slot);
+        boolean free = at.isAir() || (at.getFluidState().isEmpty() && at.isReplaceable());
+        BlockState sup = world.getBlockState(support);
+        if (!free || !sup.isSolidBlock(world, support)) {
+            torchState[i] = 2; // 点位被占/支撑变化：跳过火把，继续铺动力轨
+            return true;
+        }
+        int itemSlot = findSlot(player, Items.REDSTONE_TORCH);
+        if (itemSlot < 0) {
+            if (handleMissing(Items.REDSTONE_TORCH, "autorail.err.noTorch", true)) {
+                torchState[i] = 2; // SKIP 策略：跳过火把，继续铺动力轨（未供电）
+                return true;
+            }
+            return false; // WAIT 策略：已进入等待状态
+        }
+        Direction face = horizontalDirection(support, slot);
+        if (face == null) {
+            torchState[i] = 2;
+            return true;
+        }
+        BlockHitResult hit = faceHit(support, face);
+        selectSlot(player, itemSlot);
+        aimAt(player, hit.getPos());
+        client.interactionManager.interactBlock(player, Hand.MAIN_HAND, hit);
+        player.swingHand(Hand.MAIN_HAND);
+        torchState[i] = 1;
+        return true;
+    }
+
+    /**
+     * 材料不足预案。
+     *
+     * @param skippable 该材料是否可以在 SKIP 策略下跳过（火把可以，铁轨/圆石不行）
+     * @return true = 按 SKIP 跳过了该材料；false = 已进入等待状态，本 tick 放置流程终止
+     */
+    private boolean handleMissing(net.minecraft.item.Item item, String missingKey, boolean skippable) {
+        if (cfg.missingPolicy == MissingPolicy.SKIP && skippable) {
+            return true;
+        }
+        if (!waiting || !missingKey.equals(waitMsgKey)) {
+            waitMsgKey = missingKey;
+            waitTicks = 0; // 换了材料种类，重置等待计时
+        }
+        waiting = true;
+        releaseKeys();
+        return false;
+    }
+
     /** 找一个可点击的实心面，把圆石垫进 support 位置。优先用上一节点的支撑侧面。 */
     private BlockHitResult findSupportHit(ClientPlayerEntity player, int i, BlockPos support) {
         if (i > 0) {
@@ -246,7 +394,7 @@ public class RailExecutor {
         return bestHit;
     }
 
-    /** 点击 block 的 face 面（新方块会出现在 support 一侧）。 */
+    /** 点击 block 的 face 面（新方块会出现在 face 一侧）。 */
     private static BlockHitResult faceHit(BlockPos block, Direction face) {
         Vec3d p = new Vec3d(
                 block.getX() + 0.5 + face.getOffsetX() * 0.5,
@@ -289,7 +437,7 @@ public class RailExecutor {
     }
 
     private boolean isDone(RailStep s) {
-        return world.getBlockState(s.railPos()).isOf(Blocks.RAIL);
+        return RailPlan.isRailDone(world.getBlockState(s.railPos()));
     }
 
     private boolean isSolid(BlockPos pos) {
@@ -348,6 +496,7 @@ public class RailExecutor {
 
     private void fail(String key) {
         failKey = key;
+        waiting = false;
         releaseKeys();
     }
 
diff --git a/src/main/java/com/autorail/service/RailPlan.java b/src/main/java/com/autorail/service/RailPlan.java
new file mode 100644
index 0000000..7b8b709
--- /dev/null
+++ b/src/main/java/com/autorail/service/RailPlan.java
@@ -0,0 +1,136 @@
+package com.autorail.service;
+
+import com.autorail.config.AutoRailConfig;
+import com.autorail.pathing.RailStep;
+import net.minecraft.block.BlockState;
+import net.minecraft.block.Blocks;
+import net.minecraft.client.world.ClientWorld;
+import net.minecraft.util.math.BlockPos;
+
+import java.util.List;
+
+/**
+ * 铺设计划：把“间隔放置规则”应用到具体路径上。
+ *
+ * 规则（用户可在设置中调整）：
+ *  - 每 poweredEvery 格放 1 根动力铁轨（加速段）；
+ *  - 每 detectorEvery 格放 1 个探测铁轨（矿车压过自动激活相邻动力轨）；
+ *  - 每 torchEvery 根动力铁轨下方插 1 支红石火把（持续供电）。
+ * 间隔从 0 开始计数，即索引 i 满足 i % N == 0 时命中。
+ */
+public final class RailPlan {
+
+    /** 节点应放置的铁轨类型（火把是动力轨节点的前置动作，见 {@link #needsTorch}）。 */
+    public enum Kind { RAIL, POWERED_RAIL, DETECTOR_RAIL }
+
+    private final Kind[] kinds;
+    /** 火把放置格（通常在动力铁轨下方的支撑方块侧面）。 */
+    private final BlockPos[] torchSlots;
+    private int torchCount;
+    private int poweredCount;
+    private int detectorCount;
+
+    private RailPlan(int n) {
+        this.kinds = new Kind[n];
+        this.torchSlots = new BlockPos[n];
+        java.util.Arrays.fill(kinds, Kind.RAIL);
+    }
+
+    public Kind kindAt(int i) {
+        return kinds[i];
+    }
+
+    /** 该节点旁是否需要放置红石火把。 */
+    public boolean needsTorch(int i) {
+        return torchSlots[i] != null;
+    }
+
+    /** 火把放置格（铁轨水平相邻、挂在支撑侧面）。 */
+    public BlockPos torchSlot(int i) {
+        return torchSlots[i];
+    }
+
+    public int totalTorch() {
+        return torchCount;
+    }
+
+    public int totalPowered() {
+        return poweredCount;
+    }
+
+    public int totalDetector() {
+        return detectorCount;
+    }
+
+    public static RailPlan plan(List<RailStep> path, ClientWorld world, AutoRailConfig cfg) {
+        RailPlan p = new RailPlan(path.size());
+        // 顺序：先标记探测轨与动力轨，再给动力轨配火把
+        if (cfg.poweredEvery > 0) {
+            for (int i = 0; i < path.size(); i += Math.max(1, cfg.poweredEvery)) {
+                p.kinds[i] = Kind.POWERED_RAIL;
+                p.poweredCount++;
+            }
+        }
+        if (cfg.detectorEvery > 0) {
+            for (int i = 0; i < path.size(); i += Math.max(1, cfg.detectorEvery)) {
+                p.kinds[i] = Kind.DETECTOR_RAIL;
+                p.detectorCount++;
+            }
+        }
+        // 火把：每 torchEvery 根动力轨在“下一根动力轨”处插火把；挂在支撑方块侧面
+        int sinceTorch = cfg.torchEvery; // 让第一根动力轨就带火把
+        for (int i = 0; i < path.size(); i++) {
+            if (p.kinds[i] != Kind.POWERED_RAIL) {
+                continue;
+            }
+            if (sinceTorch >= cfg.torchEvery) {
+                BlockPos slot = findTorchSlot(path, world, i);
+                if (slot != null) {
+                    p.torchSlots[i] = slot;
+                    p.torchCount++;
+                }
+                sinceTorch = 0;
+            }
+            sinceTorch++;
+        }
+        return p;
+    }
+
+    /**
+     * 火把放置格：铁轨支撑方块的水平相邻格（挂在支撑侧面）。
+     * 要求：目标格可替换、支撑为实心。找不到返回 null（该处动力轨未供电，照常铺设）。
+     */
+    private static BlockPos findTorchSlot(List<RailStep> path, ClientWorld world, int i) {
+        BlockPos rail = path.get(i).railPos();
+        BlockPos support = rail.down();
+        BlockState sup = world.getBlockState(support);
+        if (!sup.isSolidBlock(world, support)) {
+            return null;
+        }
+        for (net.minecraft.util.math.Direction d : net.minecraft.util.math.Direction.Type.HORIZONTAL) {
+            BlockPos c = support.offset(d);
+            BlockState cs = world.getBlockState(c);
+            boolean placeable = cs.isAir() || (cs.getFluidState().isEmpty() && cs.isReplaceable());
+            if (placeable && !occupiedByPath(path, c)) {
+                return c;
+            }
+        }
+        return null;
+    }
+
+    private static boolean occupiedByPath(List<RailStep> path, BlockPos pos) {
+        for (RailStep s : path) {
+            if (s.railPos().equals(pos)) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    /** 该节点是否已经是某种铁轨（任何铁轨都算完成，允许复用）。 */
+    public static boolean isRailDone(BlockState state) {
+        return state.isOf(Blocks.RAIL)
+                || state.isOf(Blocks.POWERED_RAIL)
+                || state.isOf(Blocks.DETECTOR_RAIL);
+    }
+}
diff --git a/src/main/java/com/autorail/service/WalkExecutor.java b/src/main/java/com/autorail/service/WalkExecutor.java
new file mode 100644
index 0000000..138e7c9
--- /dev/null
+++ b/src/main/java/com/autorail/service/WalkExecutor.java
@@ -0,0 +1,157 @@
+package com.autorail.service;
+
+import net.minecraft.client.MinecraftClient;
+import net.minecraft.client.network.ClientPlayerEntity;
+import net.minecraft.client.world.ClientWorld;
+import net.minecraft.util.math.BlockPos;
+import net.minecraft.util.math.MathHelper;
+import net.minecraft.util.math.Vec3d;
+
+import java.util.List;
+
+/**
+ * 步行执行器：沿 WalkPathfinder 的格点路径控制玩家行走（转向/前进/跳跃），
+ * 用于把玩家自动带到远处的铺轨起点。只行走、不放置。
+ */
+public class WalkExecutor {
+
+    private static final int WALK_AHEAD = 2;
+    private static final double ARRIVE_SQ = 0.35;
+    private static final int STUCK_JUMP_TICKS = 15;
+    private static final int STUCK_FAIL_TICKS = 160;
+    private static final float MAX_TURN_PER_TICK = 60.0f;
+
+    private final List<BlockPos> cells;
+    private int idx = 1;
+    private long tickCounter;
+    private long stuckSince = -1;
+    private int jumpTicks;
+    private int lastIdx;
+    private boolean arrived;
+    private String failKey;
+
+    public WalkExecutor(ClientWorld world, List<BlockPos> cells) {
+        this.cells = cells;
+    }
+
+    public boolean isArrived() {
+        return arrived;
+    }
+
+    public boolean isFailed() {
+        return failKey != null;
+    }
+
+    public String getFailKey() {
+        return failKey;
+    }
+
+    public int getIdx() {
+        return Math.min(idx, cells.size());
+    }
+
+    public int getTotal() {
+        return cells.size();
+    }
+
+    public void tick(MinecraftClient client) {
+        if (arrived || failKey != null) {
+            return;
+        }
+        ClientPlayerEntity player = client.player;
+        if (player == null) {
+            return;
+        }
+        tickCounter++;
+        if (idx >= cells.size()) {
+            arrived = true;
+            releaseKeys();
+            return;
+        }
+
+        BlockPos t = cells.get(idx);
+        double dx = t.getX() + 0.5 - player.getX();
+        double dz = t.getZ() + 0.5 - player.getZ();
+        double hSq = dx * dx + dz * dz;
+        int feetY = player.getBlockY();
+
+        if (hSq < ARRIVE_SQ && Math.abs(t.getY() - feetY) <= 1) {
+            idx++;
+            stuckSince = -1;
+            if (idx >= cells.size()) {
+                arrived = true;
+                releaseKeys();
+            }
+            return;
+        }
+
+        // 面向下一目标前进；目标更高则跳
+        Vec3d center = new Vec3d(t.getX() + 0.5, t.getY() + 0.4, t.getZ() + 0.5);
+        aimAt(player, center);
+        boolean inWater = player.isInsideWaterOrBubbleColumn();
+        boolean needJump = t.getY() > feetY || (inWater && t.getY() >= feetY);
+        if (needJump) {
+            jumpTicks = 4;
+        }
+        if (jumpTicks > 0) {
+            client.options.jumpKey.setPressed(true);
+            jumpTicks--;
+        } else {
+            client.options.jumpKey.setPressed(false);
+        }
+        client.options.forwardKey.setPressed(true);
+
+        // 卡住检测：先跳跃自救，再报错
+        if (idx == lastIdx && player.isOnGround() && speedSq(player) < 2.0e-4 && !needJump) {
+            if (stuckSince < 0) {
+                stuckSince = tickCounter;
+            } else if (tickCounter - stuckSince > STUCK_JUMP_TICKS) {
+                jumpTicks = 6;
+            }
+            if (tickCounter - stuckSince > STUCK_FAIL_TICKS) {
+                failKey = "autorail.err.walkStuck";
+                releaseKeys();
+                return;
+            }
+        } else {
+            stuckSince = -1;
+        }
+        lastIdx = idx;
+    }
+
+    public void releaseKeys() {
+        MinecraftClient mc = MinecraftClient.getInstance();
+        if (mc == null || mc.options == null) {
+            return;
+        }
+        mc.options.forwardKey.setPressed(false);
+        mc.options.jumpKey.setPressed(false);
+    }
+
+    private static double speedSq(ClientPlayerEntity player) {
+        Vec3d v = player.getVelocity();
+        return v.x * v.x + v.z * v.z;
+    }
+
+    private static void aimAt(ClientPlayerEntity player, Vec3d target) {
+        Vec3d eye = player.getEyePos();
+        double dx = target.x - eye.x;
+        double dy = target.y - eye.y;
+        double dz = target.z - eye.z;
+        double h = Math.sqrt(dx * dx + dz * dz);
+        float yaw = (float) Math.toDegrees(Math.atan2(-dx, dz));
+        float pitch = (float) -Math.toDegrees(Math.atan2(dy, h));
+        player.setYaw(stepAngle(player.getYaw(), yaw));
+        player.setPitch(stepAngle(player.getPitch(), pitch));
+    }
+
+    private static float stepAngle(float cur, float target) {
+        float d = MathHelper.wrapDegrees(target - cur);
+        if (d > MAX_TURN_PER_TICK) {
+            d = MAX_TURN_PER_TICK;
+        } else if (d < -MAX_TURN_PER_TICK) {
+            d = -MAX_TURN_PER_TICK;
+        }
+        return MathHelper.wrapDegrees(cur + d);
+    }
+}
diff --git a/src/main/resources/assets/autorail/lang/en_us.json b/src/main/resources/assets/autorail/lang/en_us.json
index f63cbec..1bf9a28 100644
--- a/src/main/resources/assets/autorail/lang/en_us.json
+++ b/src/main/resources/assets/autorail/lang/en_us.json
@@ -13,9 +13,28 @@
   "autorail.gui.begin": "Start laying",
   "autorail.gui.stop": "Stop",
   "autorail.gui.close": "Close",
+  "autorail.gui.settings": "Settings…",
+  "autorail.gui.settings.title": "AutoRail Settings",
+  "autorail.gui.settings.hint": "Intervals count from 1; 0 disables the item",
+  "autorail.gui.settings.powered": "Powered rail every (blocks)",
+  "autorail.gui.settings.detector": "Detector rail every (blocks)",
+  "autorail.gui.settings.torch": "Torch every (powered rails)",
+  "autorail.gui.settings.lowHealth": "Flee below health (0-20)",
+  "autorail.gui.settings.eatBelow": "Eat below hunger (0-19)",
+  "autorail.gui.settings.maxWait": "Material wait timeout (s)",
+  "autorail.gui.settings.missingPolicy": "Missing material policy",
+  "autorail.gui.settings.policyWait": "Wait for restock",
+  "autorail.gui.settings.policySkip": "Skip special pieces",
+  "autorail.gui.settings.save": "Save",
+  "autorail.gui.settings.reset": "Defaults",
+  "autorail.gui.settings.badNumber": "Bad number, or torch interval exceeds powered interval",
+  "autorail.gui.settings.saved": "Saved to config/autorail.json",
   "autorail.gui.status.idle": "Idle",
   "autorail.gui.status.planning": "Pathfinding… {0} nodes opened",
+  "autorail.gui.status.walkPlanning": "Planning walk route… {0} nodes",
+  "autorail.gui.status.walking": "Walking to start… {0} / {1}",
   "autorail.gui.status.laying": "Laying rails… {0} / {1}",
+  "autorail.gui.status.waiting": "Waiting for materials… {0}s left",
   "autorail.gui.status.done": "Done! {0} rails placed",
   "autorail.gui.status.failed": "Failed: {0}",
   "autorail.err.needWorld": "Enter a world first",
@@ -29,11 +48,22 @@
   "autorail.err.tooFar": "Too far or too complex for the pathfinder",
   "autorail.err.noRail": "No rails left in the hotbar",
   "autorail.err.noCobble": "Bridging needs cobblestone in the hotbar",
+  "autorail.err.noTorch": "No redstone torches left in the hotbar",
   "autorail.err.noHit": "No clickable block to place against",
   "autorail.err.blocked": "Path blocked (cannot place a rail there)",
   "autorail.err.stuck": "Player stuck - clear the obstacle and retry",
+  "autorail.err.walkFail": "Cannot walk to the start automatically - get closer and retry",
+  "autorail.err.walkStuck": "Stuck on the way to the start - clear the obstacle and retry",
+  "autorail.err.waitTimeout": "Material wait timed out - stopped",
   "autorail.msg.plan.start": "Pathfinding ({0} checkpoints)…",
-  "autorail.msg.plan.done": "Path found: {0} blocks. Laying rails - avoid opening other screens",
+  "autorail.msg.plan.done": "Path found: {0} blocks ({1} powered, {2} detector, {3} torches). Laying rails - avoid opening other screens",
   "autorail.msg.lay.done": "Done! {0} rails placed",
-  "autorail.msg.stopped": "Stopped"
+  "autorail.msg.stopped": "Stopped",
+  "autorail.msg.walk.start": "Start is far away - walking there…",
+  "autorail.msg.walk.done": "Arrived at the start. Laying rails - avoid opening other screens",
+  "autorail.msg.waiting": "Out of materials - waiting for restock (auto-stops on timeout)",
+  "autorail.msg.waitingDone": "Materials restocked - resuming",
+  "autorail.msg.flee": "Low health! Emergency retreat…",
+  "autorail.msg.fleeDone": "Retreat over - resuming work",
+  "autorail.msg.eat": "Hunger low - eating…"
 }
diff --git a/src/main/resources/assets/autorail/lang/zh_cn.json b/src/main/resources/assets/autorail/lang/zh_cn.json
index 27ee53d..f49f4ea 100644
--- a/src/main/resources/assets/autorail/lang/zh_cn.json
+++ b/src/main/resources/assets/autorail/lang/zh_cn.json
@@ -13,9 +13,28 @@
   "autorail.gui.begin": "开始铺轨",
   "autorail.gui.stop": "停止",
   "autorail.gui.close": "关闭",
+  "autorail.gui.settings": "设置…",
+  "autorail.gui.settings.title": "AutoRail 设置",
+  "autorail.gui.settings.hint": "间隔从 1 开始计数；0 表示不放置该项",
+  "autorail.gui.settings.powered": "动力铁轨间隔（格）",
+  "autorail.gui.settings.detector": "探测铁轨间隔（格）",
+  "autorail.gui.settings.torch": "红石火把间隔（根动力轨）",
+  "autorail.gui.settings.lowHealth": "低血量避险阈值（0-20）",
+  "autorail.gui.settings.eatBelow": "自动进食饥饿阈值（0-19）",
+  "autorail.gui.settings.maxWait": "等待材料超时（秒）",
+  "autorail.gui.settings.missingPolicy": "材料不足预案",
+  "autorail.gui.settings.policyWait": "原地等待补充",
+  "autorail.gui.settings.policySkip": "跳过特殊件继续铺",
+  "autorail.gui.settings.save": "保存",
+  "autorail.gui.settings.reset": "恢复默认",
+  "autorail.gui.settings.badNumber": "数值格式错误或火把间隔大于动力轨间隔",
+  "autorail.gui.settings.saved": "设置已保存到 config/autorail.json",
   "autorail.gui.status.idle": "待机中",
   "autorail.gui.status.planning": "寻路中… 已展开 {0} 个节点",
+  "autorail.gui.status.walkPlanning": "规划步行路线… {0} 个节点",
+  "autorail.gui.status.walking": "自动走向起点… {0} / {1}",
   "autorail.gui.status.laying": "铺轨中… {0} / {1}",
+  "autorail.gui.status.waiting": "等待材料中… 剩余 {0} 秒，请补充到快捷栏",
   "autorail.gui.status.done": "完成！共铺设 {0} 格铁轨",
   "autorail.gui.status.failed": "失败：{0}",
   "autorail.err.needWorld": "请先进入世界",
@@ -29,11 +48,22 @@
   "autorail.err.tooFar": "距离太远或地形太复杂，超出寻路上限",
   "autorail.err.noRail": "快捷栏里没有铁轨了",
   "autorail.err.noCobble": "前方需要垫脚，但快捷栏里没有圆石",
+  "autorail.err.noTorch": "快捷栏里没有红石火把了",
   "autorail.err.noHit": "找不到可交互的方块来放置",
   "autorail.err.blocked": "路径被阻挡（该位置无法放置铁轨）",
   "autorail.err.stuck": "玩家卡住了，请清理障碍后重试",
+  "autorail.err.walkFail": "无法自动走到起点（地形过远或过险），请手动接近后重试",
+  "autorail.err.walkStuck": "前往起点途中卡住，请清理障碍后重试",
+  "autorail.err.waitTimeout": "等待材料超时，已自动停止",
   "autorail.msg.plan.start": "开始寻路（{0} 个检查点）…",
-  "autorail.msg.plan.done": "路径规划完成：{0} 格，开始铺轨（请勿打开其他界面）",
+  "autorail.msg.plan.done": "路径规划完成：{0} 格（动力轨 {1}、探测轨 {2}、火把 {3}），开始铺轨（请勿打开其他界面）",
   "autorail.msg.lay.done": "铺轨完成！共 {0} 格",
-  "autorail.msg.stopped": "已停止"
+  "autorail.msg.stopped": "已停止",
+  "autorail.msg.walk.start": "起点较远，自动前往起点…",
+  "autorail.msg.walk.done": "已到达起点，开始铺轨（请勿打开其他界面）",
+  "autorail.msg.waiting": "材料不足，原地等待补充（超时将自动停止）",
+  "autorail.msg.waitingDone": "材料已补充，继续铺轨",
+  "autorail.msg.flee": "生命值过低！紧急避险中…",
+  "autorail.msg.fleeDone": "避险结束，恢复作业",
+  "autorail.msg.eat": "饥饿值过低，自动进食中…"
 }
diff --git a/src/main/resources/fabric.mod.json b/src/main/resources/fabric.mod.json
index f6d95c6..d069b35 100644
--- a/src/main/resources/fabric.mod.json
+++ b/src/main/resources/fabric.mod.json
@@ -3,7 +3,7 @@
   "id": "autorail",
   "version": "${version}",
   "name": "AutoRail",
-  "description": "自动铺铁轨模组：内置 A* 寻路规划可铺轨路线，控制玩家边走边合法右键放置铁轨/圆石，不依赖 Baritone。",
+  "description": "自动铺铁轨工业模组：内置 A* 寻路与自动行走，按用户间隔放置动力铁轨/探测铁轨/红石火把，带材料不足预案、低血量避险与自动进食，不依赖 Baritone。",
   "authors": [
     "AutoRail"
   ],