diff --git a/dimos/core/global_config.py b/dimos/core/global_config.py
index 42a7fa552a..90461932a2 100644
--- a/dimos/core/global_config.py
+++ b/dimos/core/global_config.py
@@ -17,7 +17,7 @@
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
-from dimos.models.vl.create import VlModelName
+from dimos.models.vl.types import VlModelName
 
 ViewerBackend: TypeAlias = Literal["rerun", "rerun-web", "rerun-connect", "foxglove", "none"]
 
diff --git a/dimos/mapping/occupancy/path_map.py b/dimos/mapping/occupancy/path_map.py
index 8920c6e30b..69a1f93738 100644
--- a/dimos/mapping/occupancy/path_map.py
+++ b/dimos/mapping/occupancy/path_map.py
@@ -12,15 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Literal, TypeAlias
-
 from dimos.mapping.occupancy.gradient import GradientStrategy, gradient, voronoi_gradient
 from dimos.mapping.occupancy.inflation import simple_inflate
 from dimos.mapping.occupancy.operations import overlay_occupied, smooth_occupied
+from dimos.mapping.occupancy.types import NavigationStrategy
 from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
 
-NavigationStrategy: TypeAlias = Literal["simple", "mixed"]
-
 
 def make_navigation_map(
     occupancy_grid: OccupancyGrid,
diff --git a/dimos/mapping/occupancy/types.py b/dimos/mapping/occupancy/types.py
new file mode 100644
index 0000000000..87f2084698
--- /dev/null
+++ b/dimos/mapping/occupancy/types.py
@@ -0,0 +1,17 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Literal, TypeAlias
+
+NavigationStrategy: TypeAlias = Literal["simple", "mixed"]
diff --git a/dimos/models/vl/create.py b/dimos/models/vl/create.py
index 6c778d4104..7fe5a0dcb2 100644
--- a/dimos/models/vl/create.py
+++ b/dimos/models/vl/create.py
@@ -1,9 +1,8 @@
-from typing import Any, Literal
+from typing import Any
 
+from dimos.models.vl.types import VlModelName
 from dimos.models.vl.base import VlModel
 
-VlModelName = Literal["qwen", "moondream"]
-
 
 def create(name: VlModelName) -> VlModel[Any]:
     # This uses inline imports to only import what's needed.
diff --git a/dimos/models/vl/types.py b/dimos/models/vl/types.py
new file mode 100644
index 0000000000..ac8b0f024d
--- /dev/null
+++ b/dimos/models/vl/types.py
@@ -0,0 +1,3 @@
+from typing import Literal
+
+VlModelName = Literal["qwen", "moondream"]
diff --git a/dimos/robot/cli/test_cli_startup.py b/dimos/robot/cli/test_cli_startup.py
new file mode 100644
index 0000000000..aa9886c24e
--- /dev/null
+++ b/dimos/robot/cli/test_cli_startup.py
@@ -0,0 +1,63 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Guard against import-time regressions in the CLI entrypoint.
+
+`dimos --help` should never pull in heavy ML/viz libraries. If it does,
+startup time balloons from <2s to >5s, which is a terrible UX.
+"""
+
+import subprocess
+import sys
+import time
+
+# CI runners are slower — give generous headroom but still catch gross regressions.
+HELP_TIMEOUT_SECONDS = 8
+
+
+def test_help_does_not_import_heavy_deps() -> None:
+    """GlobalConfig import must not drag in matplotlib, torch, or scipy."""
+    result = subprocess.run(
+        [
+            sys.executable,
+            "-c",
+            (
+                "import sys; "
+                "from dimos.core.global_config import GlobalConfig; "
+                "bad = [m for m in ('matplotlib', 'torch', 'scipy') if m in sys.modules]; "
+                "assert not bad, f'Heavy deps imported: {bad}'"
+            ),
+        ],
+        capture_output=True,
+        text=True,
+        timeout=30,
+    )
+    assert result.returncode == 0, f"Heavy deps leaked into GlobalConfig import:\n{result.stderr}"
+
+
+def test_help_startup_time() -> None:
+    """`dimos --help` must finish in under {HELP_TIMEOUT_SECONDS}s."""
+    start = time.monotonic()
+    result = subprocess.run(
+        [sys.executable, "-m", "dimos.robot.cli.dimos", "--help"],
+        capture_output=True,
+        text=True,
+        timeout=HELP_TIMEOUT_SECONDS + 5,  # hard kill safety margin
+    )
+    elapsed = time.monotonic() - start
+    assert result.returncode == 0, f"dimos --help failed:\n{result.stderr}"
+    assert elapsed < HELP_TIMEOUT_SECONDS, (
+        f"dimos --help took {elapsed:.1f}s (limit: {HELP_TIMEOUT_SECONDS}s). "
+        f"Check for heavy imports in the CLI entrypoint or GlobalConfig."
+    )