diff --git a/TODO.md b/TODO.md
index a62b249..5ea0889 100644
--- a/TODO.md
+++ b/TODO.md
@@ -19,8 +19,9 @@ The task tracker for the family. Cross-repo sequencing lives here; each componen
   - [x] W4: telemetry instrumentation across all areas (nav #59)
   - [x] W5: xmBase v0.4.0 released; umbrella re-pin + full assembly green (#22); **xmNavigation v0.2.0 released** — the algorithm-centric migration arc is COMPLETE
 - [x] Umbrella: re-pin xmNavigation; `XMOTION_WITH_NAVIGATION=ON` — full assembly green (#22)
-- [ ] Viz v2: migrate nav viz to the restructured quickviz (canvas/viewer/plot/scene; cvdraw retired upstream); interactive tuner; evaluate scene/ 3D for SRB + OccupancyGrid renderable (quickviz #30 stb-guard is a precondition)
-- [ ] MPPI M4: CUDA backend for dGPU/Jetson Orin (blocked: CUDA toolkit install + reboot on dev machine)
+- [x] Viz v2 COMPLETE (nav #61): quickviz migration (cvdraw → image/) + interactive MPPI tuner (cairo alpha-fan world view, live ESS/cost plots, pause/step + λ/σ sliders); still open: quickviz #30 merge (merge-commit, NOT squash — nav pins 318daf4 from that branch), scene/ 3D for SRB + OccupancyGrid renderable
+- [x] MPPI M4a–c COMPLETE (nav #62/#63): rollout-backend seam + threaded CPU backend; CUDA backends (wheeled + SRB programs over shared raw-span cores, float32) + on-device Philox sampling — wheeled end-to-end 0.14 ms @K=2048 / 9.4 ms @K=131072 on GTX 1660 Ti; remaining M4d: device spline-knot sampling for SRB, Jetson Orin deployment/profiling, robot trial
+- [x] control folder pass (nav #64/#65/#66): fsm → vendored ctfsm v0.2.0 submodule; safety shield (envelope + ctfsm fallback ladder + CBF-QP barrier, scenario-driven S1–S6); model zoo consolidated into control/models (BicycleAccelModel + dep-free RK4, boost::odeint out of control/); follow-ups: PID production pass, boost removal from state_lattice + reachability internals, S5 quadruped GRF cone shield
 - [x] Rename component repos + umbrella submodule paths to function words; register xmTelemetry submodule (PR #12)
 
 ## Next arc (after the xmNavigation refactor)
diff --git a/components/navigation b/components/navigation
index fd1e5e8..f2dcc4f 160000
--- a/components/navigation
+++ b/components/navigation
@@ -1 +1 @@
-Subproject commit fd1e5e8dfee72196f2604061ec87986cfb1050dd
+Subproject commit f2dcc4fe4f5a8f1a5a0a74a52a07e699dcce95c1