diff --git a/src/Poe2Trade.Navigation/MinimapCapture.cs b/src/Poe2Trade.Navigation/MinimapCapture.cs
index 32981a3..015db6b 100644
--- a/src/Poe2Trade.Navigation/MinimapCapture.cs
+++ b/src/Poe2Trade.Navigation/MinimapCapture.cs
@@ -263,6 +263,7 @@ public class MinimapCapture : IFrameConsumer, IDisposable
             _colorTracker.SampleFrame(hsv, wallMask);
 
         using var kernel = Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3));
+        Cv2.MorphologyEx(wallMask, wallMask, MorphTypes.Close, kernel); // fill 1-2px gaps
         Cv2.Dilate(wallMask, wallMask, kernel);
 
         FilterSmallComponents(wallMask, _config.WallMinArea);
diff --git a/src/Poe2Trade.Navigation/NavigationExecutor.cs b/src/Poe2Trade.Navigation/NavigationExecutor.cs
index cff63d4..58e6e84 100644
--- a/src/Poe2Trade.Navigation/NavigationExecutor.cs
+++ b/src/Poe2Trade.Navigation/NavigationExecutor.cs
@@ -161,6 +161,7 @@ public class NavigationExecutor : IDisposable
                         if (gdx * gdx + gdy * gdy < 20 * 20)
                         {
                             Log.Information("Checkpoint reached at ({X},{Y})", goal.X, goal.Y);
+                            _worldMap.RemoveCheckpointOff(goal);
                             _checkpointGoal = null;
                             _currentPath = null; // force re-path
                         }
diff --git a/src/Poe2Trade.Navigation/WorldMap.cs b/src/Poe2Trade.Navigation/WorldMap.cs
index 965b755..0295efe 100644
--- a/src/Poe2Trade.Navigation/WorldMap.cs
+++ b/src/Poe2Trade.Navigation/WorldMap.cs
@@ -332,15 +332,14 @@ public class WorldMap : IDisposable
                 dstRoi.Set(row, col, (byte)MapCell.Explored);
         }
 
-        // Mark fog on canvas (on top of Unknown or Explored — not Wall)
+        // Mark fog on canvas (only on Unknown cells — never overwrite Explored)
         if (isCorner)
         {
             for (var row = 0; row < h; row++)
             for (var col = 0; col < w; col++)
             {
                 if (srcRoi.At<byte>(row, col) != (byte)MapCell.Fog) continue;
-                var dst = dstRoi.At<byte>(row, col);
-                if (dst == (byte)MapCell.Unknown || dst == (byte)MapCell.Explored)
+                if (dstRoi.At<byte>(row, col) == (byte)MapCell.Unknown)
                     dstRoi.Set(row, col, (byte)MapCell.Fog);
             }
         }
@@ -359,8 +358,7 @@ public class WorldMap : IDisposable
                 var fy = srcY + row - halfSize;
                 if (fx * fx + fy * fy < fogInner2) continue;
 
-                var dst = dstRoi.At<byte>(row, col);
-                if (dst == (byte)MapCell.Unknown || dst == (byte)MapCell.Explored)
+                if (dstRoi.At<byte>(row, col) == (byte)MapCell.Unknown)
                     dstRoi.Set(row, col, (byte)MapCell.Fog);
             }
         }
@@ -368,10 +366,7 @@ public class WorldMap : IDisposable
     }
 
     /// <summary>
-    /// Mark explored area: circle around player position.
-    /// Unknown cells are marked Explored within the full radius.
-    /// Fog cells are only cleared in the inner portion (fogClearRadius),
-    /// preserving fog at the edge so it stays visible on the viewport.
+    /// Mark explored area: circle around player position, overwrite Unknown and Fog cells.
     /// </summary>
     private void PaintExploredCircle(MapPosition position)
     {
@@ -379,8 +374,6 @@ public class WorldMap : IDisposable
         var pcy = (int)Math.Round(position.Y);
         var r = _config.ExploredRadius;
         var r2 = r * r;
-        var fogClear = r - 20;
-        var fogClear2 = fogClear * fogClear;
 
         var y0 = Math.Max(0, pcy - r);
         var y1 = Math.Min(_canvasSize - 1, pcy + r);
@@ -392,12 +385,9 @@ public class WorldMap : IDisposable
         {
             var dx = x - pcx;
             var dy = y - pcy;
-            var d2 = dx * dx + dy * dy;
-            if (d2 > r2) continue;
+            if (dx * dx + dy * dy > r2) continue;
             var cell = _canvas.At<byte>(y, x);
-            if (cell == (byte)MapCell.Unknown)
-                _canvas.Set(y, x, (byte)MapCell.Explored);
-            else if (cell == (byte)MapCell.Fog && d2 <= fogClear2)
+            if (cell == (byte)MapCell.Unknown || cell == (byte)MapCell.Fog)
                 _canvas.Set(y, x, (byte)MapCell.Explored);
         }
     }
@@ -604,6 +594,24 @@ public class WorldMap : IDisposable
         return false;
     }
 
+    /// <summary>
+    /// Remove a checkpoint from the off list (e.g. when the player has reached it).
+    /// </summary>
+    public void RemoveCheckpointOff(Point cp, int radius = 20)
+    {
+        var r2 = radius * radius;
+        for (var i = _checkpointsOff.Count - 1; i >= 0; i--)
+        {
+            var dx = _checkpointsOff[i].Pos.X - cp.X;
+            var dy = _checkpointsOff[i].Pos.Y - cp.Y;
+            if (dx * dx + dy * dy <= r2)
+            {
+                _checkpointsOff.RemoveAt(i);
+                break;
+            }
+        }
+    }
+
     /// <summary>
     /// Returns the nearest unactivated checkpoint within maxDist canvas pixels, or null.
     /// </summary>
diff --git a/src/Poe2Trade.Ui/Views/MainWindow.axaml b/src/Poe2Trade.Ui/Views/MainWindow.axaml
index ac443e5..eb3b332 100644
--- a/src/Poe2Trade.Ui/Views/MainWindow.axaml
+++ b/src/Poe2Trade.Ui/Views/MainWindow.axaml
@@ -73,12 +73,12 @@
             <TabItem Header="State">
                 <Grid RowDefinitions="Auto,*" Margin="0,6,0,0">
 
-                    <!-- Top row: Inventory + Minimap side by side -->
-                    <Grid Grid.Row="0" ColumnDefinitions="*,Auto" Margin="0,0,0,6">
+                    <!-- Top row: Inventory + Minimap side by side (splitter-resizable) -->
+                    <Grid Grid.Row="0" ColumnDefinitions="*,5,300" Margin="0,0,0,6">
 
                         <!-- Inventory Grid (12x5) -->
                         <Border Grid.Column="0" Background="#161b22" BorderBrush="#30363d"
-                                BorderThickness="1" CornerRadius="8" Padding="8" Margin="0,0,6,0">
+                                BorderThickness="1" CornerRadius="8" Padding="8" MinWidth="200">
                             <DockPanel>
                                 <StackPanel DockPanel.Dock="Top" Orientation="Horizontal" Margin="0,0,0,4">
                                     <TextBlock Text="INVENTORY" FontSize="11" FontWeight="SemiBold"
@@ -107,9 +107,11 @@
                             </DockPanel>
                         </Border>
 
+                        <GridSplitter Grid.Column="1" Background="Transparent" />
+
                         <!-- Minimap -->
-                        <Border Grid.Column="1" Background="#161b22" BorderBrush="#30363d"
-                                BorderThickness="1" CornerRadius="8" Padding="8" Width="300">
+                        <Border Grid.Column="2" Background="#161b22" BorderBrush="#30363d"
+                                BorderThickness="1" CornerRadius="8" Padding="8" MinWidth="150">
                             <DockPanel>
                                 <Grid DockPanel.Dock="Top" ColumnDefinitions="Auto,*,Auto" Margin="0,0,0,4">
                                     <TextBlock Grid.Column="0" Text="MINIMAP" FontSize="11" FontWeight="SemiBold"