diff --git a/agent_chat/autonomous_planner.py b/agent_chat/autonomous_planner.py
index 3f47e1222..7edbf4629 100644
--- a/agent_chat/autonomous_planner.py
+++ b/agent_chat/autonomous_planner.py
@@ -49,7 +49,10 @@ try:
     from PIL import Image as PILImage
     import pyautogui
     PYAUTOGUI_AVAILABLE = True
-except ImportError:
+except Exception:
+    # pyautogui peut lever Xlib.error.DisplayConnectionError (pas un ImportError)
+    # quand X n'est pas accessible — typique d'un service systemd headless côté
+    # serveur. Le serveur n'a pas besoin de pyautogui (utilisé côté client agent).
     PYAUTOGUI_AVAILABLE = False
     PILImage = None
     pyautogui = None
diff --git a/core/execution/input_handler.py b/core/execution/input_handler.py
index 273290020..30ffdcaa1 100644
--- a/core/execution/input_handler.py
+++ b/core/execution/input_handler.py
@@ -19,7 +19,9 @@ logger = logging.getLogger(__name__)
 try:
     import pyautogui
     PYAUTOGUI_AVAILABLE = True
-except ImportError:
+except Exception:
+    # pyautogui peut lever Xlib.error.DisplayConnectionError (pas un ImportError)
+    # quand X n'est pas accessible — typique d'un service systemd côté serveur.
     PYAUTOGUI_AVAILABLE = False
 
 try:
diff --git a/core/execution/observe_reason_act.py b/core/execution/observe_reason_act.py
index 567f2b4e4..0ab5d59a9 100644
--- a/core/execution/observe_reason_act.py
+++ b/core/execution/observe_reason_act.py
@@ -58,7 +58,9 @@ except ImportError:
 try:
     import pyautogui
     PYAUTOGUI_AVAILABLE = True
-except ImportError:
+except Exception:
+    # pyautogui peut lever Xlib.error.DisplayConnectionError ou KeyError('DISPLAY')
+    # quand X n'est pas accessible — typique d'un service systemd côté serveur.
     pyautogui = None
     PYAUTOGUI_AVAILABLE = False
 
diff --git a/deploy/systemd/rpa-streaming.service b/deploy/systemd/rpa-streaming.service
index 4d6610a7d..8bbe93e6d 100644
--- a/deploy/systemd/rpa-streaming.service
+++ b/deploy/systemd/rpa-streaming.service
@@ -14,6 +14,9 @@ WorkingDirectory=/home/dom/ai/rpa_vision_v3
 EnvironmentFile=/home/dom/ai/rpa_vision_v3/.env.local
 Environment="PYTHONUNBUFFERED=1"
 Environment="RPA_SERVICE_NAME=rpa-streaming"
+# Service grounding persistant — socket + répertoire d'images partagés via /run/rpa/.
+Environment="RPA_GROUNDING_SOCKET=/run/rpa/grounding.sock"
+Environment="RPA_GROUNDING_IMG_DIR=/run/rpa"
 
 # Lancement via le module Python (même commande que svc.sh)
 ExecStart=/home/dom/ai/rpa_vision_v3/.venv/bin/python3 -m agent_v0.server_v1.api_stream
@@ -29,6 +32,10 @@ KillSignal=SIGTERM
 # ---- Hardening (raisonnable pour un poste de dev/prod) ----
 NoNewPrivileges=true
 PrivateTmp=true
+# /run/rpa/ partagé avec rpa-grounding (socket + images)
+RuntimeDirectory=rpa
+RuntimeDirectoryMode=0755
+RuntimeDirectoryPreserve=yes
 
 # Logs -> journald
 StandardOutput=journal
diff --git a/deploy/systemd/rpa-vision-v3-api.service b/deploy/systemd/rpa-vision-v3-api.service
index 6b1512d92..ff4a842cd 100644
--- a/deploy/systemd/rpa-vision-v3-api.service
+++ b/deploy/systemd/rpa-vision-v3-api.service
@@ -14,6 +14,11 @@ EnvironmentFile=/home/dom/ai/rpa_vision_v3/.env.local
 Environment="PYTHONUNBUFFERED=1"
 Environment="ENVIRONMENT=production"
 Environment="RPA_SERVICE_NAME=rpa-vision-v3-api"
+# Service grounding persistant — socket + répertoire d'images partagés via /run/rpa/.
+# Si le service rpa-grounding n'est pas démarré, le client retombe automatiquement
+# sur le subprocess one-shot (cf. ui_tars_grounder.py).
+Environment="RPA_GROUNDING_SOCKET=/run/rpa/grounding.sock"
+Environment="RPA_GROUNDING_IMG_DIR=/run/rpa"
 
 ExecStart=/home/dom/ai/rpa_vision_v3/.venv/bin/python3 server/api_upload.py
 
@@ -25,6 +30,11 @@ TimeoutStopSec=30
 # ---- Hardening ----
 NoNewPrivileges=true
 PrivateTmp=true
+# /run/rpa/ partagé avec rpa-grounding pour le socket et les images grounding.
+# Le service rpa-grounding crée le répertoire ; ici on l'expose au /run du service.
+RuntimeDirectory=rpa
+RuntimeDirectoryMode=0755
+RuntimeDirectoryPreserve=yes
 
 # Logs -> journald
 StandardOutput=journal
diff --git a/deploy/systemd/rpa-vision-v3-dashboard.service b/deploy/systemd/rpa-vision-v3-dashboard.service
index c844eace1..9ca081547 100644
--- a/deploy/systemd/rpa-vision-v3-dashboard.service
+++ b/deploy/systemd/rpa-vision-v3-dashboard.service
@@ -12,6 +12,9 @@ EnvironmentFile=/home/dom/ai/rpa_vision_v3/.env.local
 Environment="PYTHONUNBUFFERED=1"
 Environment="ENVIRONMENT=production"
 Environment="RPA_SERVICE_NAME=rpa-vision-v3-dashboard"
+# Service grounding persistant
+Environment="RPA_GROUNDING_SOCKET=/run/rpa/grounding.sock"
+Environment="RPA_GROUNDING_IMG_DIR=/run/rpa"
 ExecStart=/home/dom/ai/rpa_vision_v3/.venv/bin/python3 web_dashboard/app.py
 
 Restart=on-failure
diff --git a/deploy/systemd/rpa-vision-v3-worker.service b/deploy/systemd/rpa-vision-v3-worker.service
index b09545c3a..b186e46aa 100644
--- a/deploy/systemd/rpa-vision-v3-worker.service
+++ b/deploy/systemd/rpa-vision-v3-worker.service
@@ -10,6 +10,9 @@ Group=dom
 WorkingDirectory=/home/dom/ai/rpa_vision_v3
 EnvironmentFile=/home/dom/ai/rpa_vision_v3/.env.local
 Environment="PYTHONUNBUFFERED=1"
+# Service grounding persistant — socket + répertoire d'images partagés via /run/rpa/.
+Environment="RPA_GROUNDING_SOCKET=/run/rpa/grounding.sock"
+Environment="RPA_GROUNDING_IMG_DIR=/run/rpa"
 ExecStart=/home/dom/ai/rpa_vision_v3/.venv/bin/python3 server/worker_daemon.py
 
 Restart=on-failure
@@ -18,6 +21,10 @@ TimeoutStopSec=60
 
 NoNewPrivileges=true
 PrivateTmp=true
+# /run/rpa/ partagé avec rpa-grounding (socket + images)
+RuntimeDirectory=rpa
+RuntimeDirectoryMode=0755
+RuntimeDirectoryPreserve=yes
 
 StandardOutput=journal
 StandardError=journal