diff --git a/project.godot b/project.godot
index 11d90c8..2422925 100644
--- a/project.godot
+++ b/project.godot
@@ -23,12 +23,12 @@ run/max_fps=60
 
 [autoload]
 
+BeehaveGlobalMetrics="*res://addons/beehave/metrics/beehave_global_metrics.gd"
+BeehaveGlobalDebugger="*res://addons/beehave/debug/global_debugger.gd"
 GameRuntime="*res://src/game/game_runtime.gd"
 ItemCatalog="*res://src/items/item_catalog.tscn"
 GameSettings="*res://src/game/game_settings.gd"
 GameManager="*res://src/game/game_manager.tscn"
-BeehaveGlobalMetrics="*res://addons/beehave/metrics/beehave_global_metrics.gd"
-BeehaveGlobalDebugger="*res://addons/beehave/debug/global_debugger.gd"
 
 [debug]
 
diff --git a/src/world/grunk_beast/behaviors/actions/get_random_target.gd b/src/world/grunk_beast/behaviors/actions/get_random_target.gd
new file mode 100644
index 0000000..7100d9d
--- /dev/null
+++ b/src/world/grunk_beast/behaviors/actions/get_random_target.gd
@@ -0,0 +1,30 @@
+@tool
+class_name GetRandomTarget extends ActionLeaf
+## Picks a random navigable point near the actor and writes it to the blackboard.
+##
+## If the random point is not navigable, will return RUNNING and pick a new point next tick.
+
+## Blackboard key under which to store the random target.
+@export var blackboard_key := "target"
+
+## Standard deviation of position in each direction, in game units.
+@export var st_dev := Vector3(1, 0, 1)
+
+## Maximum path length considered navigable, in game units.
+@export var max_path_len := 16.0
+
+
+func tick(actor: Node, blackboard: Blackboard) -> int:
+	var beast := actor as GrunkBeast
+
+	var target := Vector3(
+		randfn(beast.global_position.x, st_dev.x),
+		randfn(beast.global_position.y, st_dev.y),
+		randfn(beast.global_position.z, st_dev.z)
+	)
+
+	if not beast.path_shorter_than(target, max_path_len):
+		return RUNNING
+
+	blackboard.set_value(blackboard_key, target)
+	return SUCCESS
diff --git a/src/world/grunk_beast/behaviors/actions/get_random_target.gd.uid b/src/world/grunk_beast/behaviors/actions/get_random_target.gd.uid
new file mode 100644
index 0000000..e931852
--- /dev/null
+++ b/src/world/grunk_beast/behaviors/actions/get_random_target.gd.uid
@@ -0,0 +1 @@
+uid://ubcelage67hs
diff --git a/src/world/grunk_beast/behaviors/actions/sniff.gd b/src/world/grunk_beast/behaviors/actions/sniff.gd
new file mode 100644
index 0000000..fa96318
--- /dev/null
+++ b/src/world/grunk_beast/behaviors/actions/sniff.gd
@@ -0,0 +1,9 @@
+@tool
+class_name Sniff extends ActionLeaf
+## The wily grunkbeest sniffs for its prey!
+
+
+func tick(_actor: Node, _blackboard: Blackboard) -> int:
+	# TODO
+	print_debug("SNIFF SNIFF...")
+	return SUCCESS
diff --git a/src/world/grunk_beast/behaviors/actions/sniff.gd.uid b/src/world/grunk_beast/behaviors/actions/sniff.gd.uid
new file mode 100644
index 0000000..9257b27
--- /dev/null
+++ b/src/world/grunk_beast/behaviors/actions/sniff.gd.uid
@@ -0,0 +1 @@
+uid://bksvlal4gjhfr
diff --git a/src/world/grunk_beast/grunk_beast.gd b/src/world/grunk_beast/grunk_beast.gd
index b9c542f..46deee8 100644
--- a/src/world/grunk_beast/grunk_beast.gd
+++ b/src/world/grunk_beast/grunk_beast.gd
@@ -44,18 +44,28 @@ func get_speed() -> float:
 
 
 func path_shorter_than(target: Vector3, limit: float) -> bool:
-	var limit_sq := limit * limit
-	var length_sq := 0.0
+	var length := 0.0
 	var last_pos := global_position
 
 	nav_probe.target_position = target
 
-	for waypoint: Vector3 in nav_probe.get_current_navigation_path().slice(
+	# Fail early if the target is unreachable.
+	# NOTE: this call also forces a navigation path refresh! Do not remove!
+	if not nav_probe.is_target_reachable():
+		return false
+
+	var path := nav_probe.get_current_navigation_path().slice(
 		nav_probe.get_current_navigation_path_index()
-	):
-		# Using distance squared to save a sqrt instruction
-		length_sq += last_pos.distance_squared_to(waypoint)
-		if length_sq > limit_sq:
+	)
+	if not path:
+		# Shouldn't be possible, but if it is it would cause problems if we didn't fail here
+		print_debug("Target is reachable but has no path (tell the developer!)")
+		return false
+
+	# Integrate along path
+	for waypoint: Vector3 in path:
+		length += last_pos.distance_to(waypoint)
+		if length > limit:
 			return false
 		last_pos = waypoint
 
diff --git a/src/world/grunk_beast/grunk_beast.tscn b/src/world/grunk_beast/grunk_beast.tscn
index ae618a0..7a9f99a 100644
--- a/src/world/grunk_beast/grunk_beast.tscn
+++ b/src/world/grunk_beast/grunk_beast.tscn
@@ -1,4 +1,4 @@
-[gd_scene load_steps=37 format=3 uid="uid://ehf5sg3ahvbf"]
+[gd_scene load_steps=41 format=3 uid="uid://ehf5sg3ahvbf"]
 
 [ext_resource type="Script" uid="uid://gwwmqwixqqr5" path="res://src/world/grunk_beast/grunk_beast.gd" id="2_qqnhb"]
 [ext_resource type="Shader" uid="uid://ckxc0ngd37rtk" path="res://src/shaders/gunk.gdshader" id="4_0gxpq"]
@@ -25,6 +25,9 @@
 [ext_resource type="Script" uid="uid://wfd5nbethyw6" path="res://src/world/grunk_beast/behaviors/actions/blackboard_copy.gd" id="15_umoec"]
 [ext_resource type="Script" uid="uid://ykfqlqp7e8og" path="res://src/world/grunk_beast/behaviors/actions/start_timer.gd" id="16_asd50"]
 [ext_resource type="Script" uid="uid://h0cp58nswpml" path="res://src/world/grunk_beast/behaviors/conditions/timer_running.gd" id="16_oons1"]
+[ext_resource type="Script" uid="uid://ubcelage67hs" path="res://src/world/grunk_beast/behaviors/actions/get_random_target.gd" id="24_asd50"]
+[ext_resource type="Script" uid="uid://dvnmhlldp23hg" path="res://addons/beehave/nodes/composites/selector_random.gd" id="24_xs4mp"]
+[ext_resource type="Script" uid="uid://bksvlal4gjhfr" path="res://src/world/grunk_beast/behaviors/actions/sniff.gd" id="26_lak6w"]
 
 [sub_resource type="NoiseTexture3D" id="NoiseTexture3D_faau1"]
 width = 256
@@ -96,6 +99,9 @@ radius = 20.0
 [sub_resource type="SphereShape3D" id="SphereShape3D_oons1"]
 radius = 3.0
 
+[sub_resource type="SphereShape3D" id="SphereShape3D_lak6w"]
+radius = 10.0
+
 [node name="GrunkBeast" type="CharacterBody3D"]
 collision_layer = 36
 script = ExtResource("2_qqnhb")
@@ -115,12 +121,15 @@ shape = SubResource("CapsuleShape3D_faau1")
 [node name="NavAgent" type="NavigationAgent3D" parent="."]
 unique_name_in_owner = true
 path_desired_distance = 0.75
-avoidance_enabled = true
 debug_enabled = true
 
 [node name="NavProbe" type="NavigationAgent3D" parent="."]
 unique_name_in_owner = true
 path_desired_distance = 0.75
+debug_enabled = true
+debug_use_custom = true
+debug_path_custom_color = Color(0, 1, 0, 1)
+debug_path_custom_point_size = 8.0
 
 [node name="GameSoundListener" type="StaticBody3D" parent="."]
 collision_layer = 16
@@ -157,7 +166,7 @@ collision_layer = 0
 collision_mask = 8
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="SniffRange"]
-shape = SubResource("SphereShape3D_wffas")
+shape = SubResource("SphereShape3D_lak6w")
 
 [node name="StalkingTimer" type="Timer" parent="."]
 unique_name_in_owner = true
@@ -257,9 +266,38 @@ metadata/_custom_type_script = "uid://u1ntpwjwjqhj"
 script = ExtResource("14_4y64f")
 metadata/_custom_type_script = "uid://om57w2acvgb7"
 
-[node name="SelectorReactiveComposite" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence"]
-script = ExtResource("7_vvw1q")
-metadata/_custom_type_script = "uid://cw22yurt5l74k"
+[node name="RandomDelay" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence"]
+script = ExtResource("11_mbqcc")
+mean_time = 4.0
+st_dev_time = 0.6
+wait_time = 3.87336
+metadata/_custom_type_script = "uid://beyk2xtbjrsg4"
+
+[node name="RandomStalkingBehavior" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence/RandomDelay"]
+script = ExtResource("24_xs4mp")
+use_weights = true
+Weights/PickRandomStalkTarget = 10
+Weights/SniffSequence = 1
+metadata/_custom_type_script = "uid://dvnmhlldp23hg"
+
+[node name="PickRandomStalkTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence/RandomDelay/RandomStalkingBehavior"]
+script = ExtResource("24_asd50")
+blackboard_key = "stalking_target"
+metadata/_custom_type_script = "uid://ubcelage67hs"
+
+[node name="SniffSequence" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence/RandomDelay/RandomStalkingBehavior"]
+script = ExtResource("8_0gxpq")
+metadata/_custom_type_script = "uid://cg016dbe7gs1x"
+
+[node name="Sniff" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence/RandomDelay/RandomStalkingBehavior/SniffSequence"]
+script = ExtResource("26_lak6w")
+metadata/_custom_type_script = "uid://bksvlal4gjhfr"
+
+[node name="SetTargetFromArea" type="Node" parent="GrunkBeastBehavior/StateSelector/StalkingSequence/RandomDelay/RandomStalkingBehavior/SniffSequence" node_paths=PackedStringArray("area")]
+script = ExtResource("13_x8l6r")
+blackboard_key = "stalking_target"
+area = NodePath("../../../../../../../SniffRange")
+metadata/_custom_type_script = "uid://b34l3v4sr8rmq"
 
 [node name="AlwaysFailDecorator2" type="Node" parent="GrunkBeastBehavior/StateSelector"]
 script = ExtResource("15_oons1")
@@ -278,7 +316,7 @@ metadata/_custom_type_script = "uid://cg016dbe7gs1x"
 script = ExtResource("11_mbqcc")
 mean_time = 5.0
 st_dev_time = 1.0
-wait_time = 4.6164
+wait_time = 5.5859
 metadata/_custom_type_script = "uid://beyk2xtbjrsg4"
 
 [node name="PickRandomLurkTarget" type="Node" parent="GrunkBeastBehavior/StateSelector/LurkSequence/RandomDelay"]