diff --git a/src/agents/pi-embedded-runner/run/attempt.ts b/src/agents/pi-embedded-runner/run/attempt.ts
index afa36b35c76..ffb19b2a153 100644
--- a/src/agents/pi-embedded-runner/run/attempt.ts
+++ b/src/agents/pi-embedded-runner/run/attempt.ts
@@ -2477,6 +2477,7 @@ export async function runEmbeddedAttempt(
         }
         return Promise.allSettled(promises).then(() => undefined);
       };
+      let heartbeatResponseTerminated = false;
       abortSessionForYield = () => {
         yieldAbortSettled = abortActiveSession();
       };
@@ -3279,6 +3280,16 @@ export async function runEmbeddedAttempt(
           onAssistantMessageStart: params.onAssistantMessageStart,
           onExecutionPhase: params.onExecutionPhase,
           onAgentEvent: params.onAgentEvent,
+          onHeartbeatToolResponse:
+            params.trigger === "heartbeat"
+              ? () => {
+                  if (heartbeatResponseTerminated) {
+                    return;
+                  }
+                  heartbeatResponseTerminated = true;
+                  void abortActiveSession();
+                }
+              : undefined,
           terminalLifecyclePhase: params.deferTerminalLifecycleEnd ? "finishing" : "end",
           onBeforeLifecycleTerminal: () => {
             // Clear embedded-run activity before emitting terminal lifecycle events so
@@ -4242,6 +4253,9 @@ export async function runEmbeddedAttempt(
                 await persistSessionsYieldContextMessage(activeSession, yieldMessage);
               }
             });
+          } else if (heartbeatResponseTerminated && isRunnerAbortError(err)) {
+            aborted = false;
+            await sessionLockController.waitForSessionEvents(activeSession);
           } else if (isMidTurnPrecheckSignal(err)) {
             await sessionLockController.waitForSessionEvents(activeSession);
             await sessionLockController.withSessionWriteLock(() => {
diff --git a/src/agents/pi-embedded-subscribe.handlers.tools.ts b/src/agents/pi-embedded-subscribe.handlers.tools.ts
index e5fd46062ae..6a0e38ba90b 100644
--- a/src/agents/pi-embedded-subscribe.handlers.tools.ts
+++ b/src/agents/pi-embedded-subscribe.handlers.tools.ts
@@ -1143,7 +1143,11 @@ export async function handleToolExecutionEnd(
   if (!isToolError && toolName === HEARTBEAT_RESPONSE_TOOL_NAME) {
     const response = normalizeHeartbeatToolResponse(result?.details);
     if (response) {
+      const isFirstHeartbeatResponse = ctx.state.heartbeatToolResponse === undefined;
       ctx.state.heartbeatToolResponse = response;
+      if (isFirstHeartbeatResponse) {
+        void ctx.params.onHeartbeatToolResponse?.(response);
+      }
     }
   }
 
diff --git a/src/agents/pi-embedded-subscribe.handlers.types.ts b/src/agents/pi-embedded-subscribe.handlers.types.ts
index c072934456f..44a69412b9c 100644
--- a/src/agents/pi-embedded-subscribe.handlers.types.ts
+++ b/src/agents/pi-embedded-subscribe.handlers.types.ts
@@ -198,6 +198,7 @@ type ToolHandlerParams = Pick<
   | "onBlockReplyFlush"
   | "onAgentEvent"
   | "onExecutionPhase"
+  | "onHeartbeatToolResponse"
   | "onToolResult"
   | "sessionKey"
   | "sessionId"
diff --git a/src/agents/pi-embedded-subscribe.subscribe-embedded-pi-session.subscribeembeddedpisession.test.ts b/src/agents/pi-embedded-subscribe.subscribe-embedded-pi-session.subscribeembeddedpisession.test.ts
index 32967cd8c36..43ebfb67ca1 100644
--- a/src/agents/pi-embedded-subscribe.subscribe-embedded-pi-session.subscribeembeddedpisession.test.ts
+++ b/src/agents/pi-embedded-subscribe.subscribe-embedded-pi-session.subscribeembeddedpisession.test.ts
@@ -1,5 +1,6 @@
 import type { AssistantMessage } from "@earendil-works/pi-ai";
 import { describe, expect, it, vi } from "vitest";
+import { HEARTBEAT_RESPONSE_TOOL_NAME } from "../auto-reply/heartbeat-tool-response.js";
 import * as agentEvents from "../infra/agent-events.js";
 import {
   THINKING_TAG_CASES,
@@ -1218,4 +1219,61 @@ describe("subscribeEmbeddedPiSession", () => {
       replayInvalid: true,
     });
   });
+
+  it("notifies the runner once when a heartbeat response tool result is recorded", async () => {
+    const { session, emit } = createStubSessionHarness();
+    const onHeartbeatToolResponse = vi.fn();
+    const subscription = subscribeEmbeddedPiSession({
+      session,
+      runId: "run-heartbeat-terminal",
+      sessionKey: "agent:main:main",
+      onHeartbeatToolResponse,
+    });
+
+    const result = {
+      details: {
+        status: "recorded",
+        outcome: "no_change",
+        notify: false,
+        summary: "Nothing needs attention.",
+      },
+    };
+    emitToolRun({
+      emit,
+      toolName: HEARTBEAT_RESPONSE_TOOL_NAME,
+      toolCallId: "heartbeat-1",
+      args: {
+        outcome: "no_change",
+        notify: false,
+        summary: "Nothing needs attention.",
+      },
+      isError: false,
+      result,
+    });
+    emitToolRun({
+      emit,
+      toolName: HEARTBEAT_RESPONSE_TOOL_NAME,
+      toolCallId: "heartbeat-2",
+      args: {
+        outcome: "no_change",
+        notify: false,
+        summary: "Nothing needs attention.",
+      },
+      isError: false,
+      result,
+    });
+    await flushBlockReplyCallbacks();
+
+    expect(subscription.getHeartbeatToolResponse()).toEqual({
+      outcome: "no_change",
+      notify: false,
+      summary: "Nothing needs attention.",
+    });
+    expect(onHeartbeatToolResponse).toHaveBeenCalledTimes(1);
+    expect(onHeartbeatToolResponse).toHaveBeenCalledWith({
+      outcome: "no_change",
+      notify: false,
+      summary: "Nothing needs attention.",
+    });
+  });
 });
diff --git a/src/agents/pi-embedded-subscribe.types.ts b/src/agents/pi-embedded-subscribe.types.ts
index ebdd1c4f58e..c0392f79542 100644
--- a/src/agents/pi-embedded-subscribe.types.ts
+++ b/src/agents/pi-embedded-subscribe.types.ts
@@ -3,6 +3,7 @@ import type {
   PartialReplyPayload,
   SourceReplyDeliveryMode,
 } from "../auto-reply/get-reply-options.types.js";
+import type { HeartbeatToolResponse } from "../auto-reply/heartbeat-tool-response.js";
 import type { ReplyPayload } from "../auto-reply/reply-payload.js";
 import type { ReasoningLevel, ThinkLevel, VerboseLevel } from "../auto-reply/thinking.js";
 import type { OpenClawConfig } from "../config/types.openclaw.js";
@@ -56,6 +57,7 @@ export type SubscribeEmbeddedPiSessionParams = {
     data: Record<string, unknown>;
     sessionKey?: string;
   }) => void | Promise<void>;
+  onHeartbeatToolResponse?: (response: HeartbeatToolResponse) => void | Promise<void>;
   terminalLifecyclePhase?: "end" | "finishing";
   /** Best-effort hook invoked immediately before the terminal lifecycle event is emitted. */
   onBeforeLifecycleTerminal?: () => void | Promise<void>;
diff --git a/src/agents/tools/heartbeat-response-tool.test.ts b/src/agents/tools/heartbeat-response-tool.test.ts
index be660992ff3..eb244d91030 100644
--- a/src/agents/tools/heartbeat-response-tool.test.ts
+++ b/src/agents/tools/heartbeat-response-tool.test.ts
@@ -53,6 +53,24 @@ describe("createHeartbeatResponseTool", () => {
     expect(details.summary).toBe("Nothing needs attention.");
   });
 
+  it("rejects repeated heartbeat responses from the same tool instance", async () => {
+    const tool = createHeartbeatResponseTool();
+
+    await tool.execute("call-1", {
+      outcome: "no_change",
+      notify: false,
+      summary: "Nothing needs attention.",
+    });
+
+    await expect(
+      tool.execute("call-2", {
+        outcome: "no_change",
+        notify: false,
+        summary: "Nothing needs attention.",
+      }),
+    ).rejects.toThrow("heartbeat_respond already recorded");
+  });
+
   it("accepts notification text and optional scheduling metadata", async () => {
     const tool = createHeartbeatResponseTool();
 
diff --git a/src/agents/tools/heartbeat-response-tool.ts b/src/agents/tools/heartbeat-response-tool.ts
index 7c0039abd57..01afbe373c2 100644
--- a/src/agents/tools/heartbeat-response-tool.ts
+++ b/src/agents/tools/heartbeat-response-tool.ts
@@ -36,6 +36,7 @@ function readRequiredBoolean(params: Record<string, unknown>, key: string): bool
 }
 
 export function createHeartbeatResponseTool(): AnyAgentTool {
+  let recorded = false;
   return {
     label: "Heartbeat",
     name: HEARTBEAT_RESPONSE_TOOL_NAME,
@@ -54,6 +55,10 @@ export function createHeartbeatResponseTool(): AnyAgentTool {
           "Invalid heartbeat response. Provide outcome, notify, and non-empty summary.",
         );
       }
+      if (recorded) {
+        throw new ToolInputError("heartbeat_respond already recorded for this turn");
+      }
+      recorded = true;
       return jsonResult({
         status: "recorded",
         ...response,