diff --git a/package-lock.json b/package-lock.json
index 234c55a..e1e6ded 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "@ioai/rosview",
-  "version": "1.7.9",
+  "version": "1.8.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "@ioai/rosview",
-      "version": "1.7.9",
+      "version": "1.8.0",
       "license": "MIT",
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@@ -24,66 +24,66 @@
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-        "@radix-ui/react-tabs": "^1.1.2",
-        "@react-three/drei": "^10.0.0",
-        "@react-three/fiber": "^9.0.0",
+        "@playwright/test": "^1.62.1",
+        "@radix-ui/react-collapsible": "^1.1.20",
+        "@radix-ui/react-dialog": "^1.1.23",
+        "@radix-ui/react-dropdown-menu": "^2.1.24",
+        "@radix-ui/react-menubar": "^1.1.24",
+        "@radix-ui/react-popover": "^1.1.23",
+        "@radix-ui/react-select": "^2.3.7",
+        "@radix-ui/react-separator": "^1.1.15",
+        "@radix-ui/react-slider": "^1.4.7",
+        "@radix-ui/react-slot": "^1.3.3",
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-        "@types/node": "^25.6.0",
-        "@types/react": "^19.2.15",
-        "@types/react-dom": "^19.2.3",
+        "@types/node": "^26.2.0",
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-        "@vitejs/plugin-react": "^6.0.1",
-        "@vitest/coverage-v8": "^4.1.10",
-        "autoprefixer": "^10.4.23",
+        "@types/three": "^0.185.4",
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         "comlink": "^4.4.1",
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-        "eslint": "^10.8.0",
-        "eslint-plugin-react-hooks": "^7.0.1",
-        "eslint-plugin-react-refresh": "^0.5.2",
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         "fflate": "^0.8.2",
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-        "globals": "^17.4.0",
-        "happy-dom": "^20.9.0",
+        "globals": "^17.11.0",
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-        "lucide-react": "^0.474.0",
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-        "protobufjs": "^8.0.1",
-        "react": "^19.2.6",
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-        "react-resizable-panels": "^4.10.0",
-        "sonner": "^2.0.7",
-        "sql.js": "^1.14.1",
+        "postcss": "^8.5.26",
+        "protobufjs": "^8.7.2",
+        "react": "^19.2.8",
+        "react-dom": "^19.2.8",
+        "react-intl": "^10.1.22",
+        "react-resizable-panels": "^4.12.3",
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         "tailwindcss": "^3.4.17",
-        "three": "^0.173.0",
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-        "typescript-eslint": "^8.58.0",
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-        "vite": "^8.0.14",
-        "vitest": "^4.1.4",
-        "zustand": "^5.0.3"
+        "vite": "^8.2.1",
+        "vitest": "^4.1.11",
+        "zustand": "^5.0.15"
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@@ -377,39 +377,12 @@
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+    "node_modules/@dimforge/rapier3d-compat": {
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+      "resolved": "https://registry.npmjs.org/@dimforge/rapier3d-compat/-/rapier3d-compat-0.12.0.tgz",
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
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+      "license": "Apache-2.0"
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@@ -589,9 +562,9 @@
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@@ -606,15 +579,15 @@
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+      "resolved": "https://registry.npmjs.org/@formatjs/intl/-/intl-4.1.19.tgz",
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-        "@formatjs/icu-messageformat-parser": "3.5.14",
-        "intl-messageformat": "11.2.11"
+        "@formatjs/icu-messageformat-parser": "3.5.17",
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@@ -1069,25 +1042,6 @@
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-        "url": "https://github.com/sponsors/Brooooooklyn"
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@@ -1127,9 +1081,9 @@
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@@ -1137,43 +1091,43 @@
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+        "playwright": "1.62.1"
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         "playwright": "cli.js"
       },
       "engines": {
-        "node": ">=18"
+        "node": ">=20"
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@@ -1191,20 +1145,20 @@
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-        "@radix-ui/react-use-layout-effect": "1.1.2"
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@@ -1222,16 +1176,16 @@
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@@ -1249,9 +1203,9 @@
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@@ -1265,9 +1219,9 @@
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@@ -1281,24 +1235,25 @@
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+      "version": "8.67.0",
+      "resolved": "https://registry.npmjs.org/typescript-eslint/-/typescript-eslint-8.67.0.tgz",
+      "integrity": "sha512-S2udFs8tCKEKffuJ4TB1idGUZiXdCPGi3IPBGWXarbLQ5UPXORV8QEVzJ4gCRduURMb5EkpNCdjbk0eDIuI8Yg==",
       "dev": true,
       "license": "MIT",
       "dependencies": {
-        "@typescript-eslint/eslint-plugin": "8.64.0",
-        "@typescript-eslint/parser": "8.64.0",
-        "@typescript-eslint/typescript-estree": "8.64.0",
-        "@typescript-eslint/utils": "8.64.0"
+        "@typescript-eslint/eslint-plugin": "8.67.0",
+        "@typescript-eslint/parser": "8.67.0",
+        "@typescript-eslint/typescript-estree": "8.67.0",
+        "@typescript-eslint/utils": "8.67.0"
       },
       "engines": {
         "node": "^18.18.0 || ^20.9.0 || >=21.1.0"
@@ -6612,9 +6536,9 @@
       }
     },
     "node_modules/undici-types": {
-      "version": "7.24.6",
-      "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.24.6.tgz",
-      "integrity": "sha512-WRNW+sJgj5OBN4/0JpHFqtqzhpbnV0GuB+OozA9gCL7a993SmU+1JBZCzLNxYsbMfIeDL+lTsphD5jN5N+n0zg==",
+      "version": "8.3.0",
+      "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-8.3.0.tgz",
+      "integrity": "sha512-j375ScV60dom+YkPFIfTLcOiPxkN/buHz5GobjLhixFuANaNs3C9l4GmrWqejgXWJ7BbJcFYpTEUkS1Ge8bpZQ==",
       "dev": true,
       "license": "MIT"
     },
@@ -6749,16 +6673,16 @@
       }
     },
     "node_modules/vite": {
-      "version": "8.1.4",
-      "resolved": "https://registry.npmjs.org/vite/-/vite-8.1.4.tgz",
-      "integrity": "sha512-bTT9PsdWO+MQMNG9ZXIP/qM9wGh37DFxTV/sPq9cFpHr3w4jkgef032PkAL9jAqhk3Nz8NQw3O8n6/xFkqO4QQ==",
+      "version": "8.2.1",
+      "resolved": "https://registry.npmjs.org/vite/-/vite-8.2.1.tgz",
+      "integrity": "sha512-EU/eS7BH3XROHh2YnBefjM6DBKA6ZeMZEYQbj7NLWg5wHYlhB8B/Mayd5XsgWq+NFYccDOTemRpdETWR6Ka/lw==",
       "dev": true,
       "license": "MIT",
       "dependencies": {
-        "lightningcss": "^1.32.0",
+        "lightningcss": "^1.33.0",
         "picomatch": "^4.0.5",
-        "postcss": "^8.5.16",
-        "rolldown": "~1.1.4",
+        "postcss": "^8.5.25",
+        "rolldown": "~1.2.1",
         "tinyglobby": "^0.2.17"
       },
       "bin": {
@@ -6775,7 +6699,7 @@
       },
       "peerDependencies": {
         "@types/node": "^20.19.0 || >=22.12.0",
-        "@vitejs/devtools": "^0.3.0",
+        "@vitejs/devtools": "^0.4.0",
         "esbuild": "^0.27.0 || ^0.28.0",
         "jiti": ">=1.21.0",
         "less": "^4.0.0",
@@ -6855,19 +6779,19 @@
       }
     },
     "node_modules/vitest": {
-      "version": "4.1.10",
-      "resolved": "https://registry.npmjs.org/vitest/-/vitest-4.1.10.tgz",
-      "integrity": "sha512-R9jUTe5S4Qb0HCd4TNqpC7oGcrMssMRGXLW80ubjWsW9VH5GF8y1Y0SFLY9AbqSk6nt0PnOx4H4WNJYZ13GUPw==",
+      "version": "4.1.11",
+      "resolved": "https://registry.npmjs.org/vitest/-/vitest-4.1.11.tgz",
+      "integrity": "sha512-fhACrNXUidIbGSBr5FlbuBkO7VWC1ZyLl0DO4CU2DrQoAPxX84Ysxs+HeGQpii5lZWV1Q4gBZTTu49mF+A6Edw==",
       "dev": true,
       "license": "MIT",
       "dependencies": {
-        "@vitest/expect": "4.1.10",
-        "@vitest/mocker": "4.1.10",
-        "@vitest/pretty-format": "4.1.10",
-        "@vitest/runner": "4.1.10",
-        "@vitest/snapshot": "4.1.10",
-        "@vitest/spy": "4.1.10",
-        "@vitest/utils": "4.1.10",
+        "@vitest/expect": "4.1.11",
+        "@vitest/mocker": "4.1.11",
+        "@vitest/pretty-format": "4.1.11",
+        "@vitest/runner": "4.1.11",
+        "@vitest/snapshot": "4.1.11",
+        "@vitest/spy": "4.1.11",
+        "@vitest/utils": "4.1.11",
         "es-module-lexer": "^2.0.0",
         "expect-type": "^1.3.0",
         "magic-string": "^0.30.21",
@@ -6895,12 +6819,12 @@
         "@edge-runtime/vm": "*",
         "@opentelemetry/api": "^1.9.0",
         "@types/node": "^20.0.0 || ^22.0.0 || >=24.0.0",
-        "@vitest/browser-playwright": "4.1.10",
-        "@vitest/browser-preview": "4.1.10",
-        "@vitest/browser-webdriverio": "4.1.10",
-        "@vitest/coverage-istanbul": "4.1.10",
-        "@vitest/coverage-v8": "4.1.10",
-        "@vitest/ui": "4.1.10",
+        "@vitest/browser-playwright": "4.1.11",
+        "@vitest/browser-preview": "4.1.11",
+        "@vitest/browser-webdriverio": "4.1.11",
+        "@vitest/coverage-istanbul": "4.1.11",
+        "@vitest/coverage-v8": "4.1.11",
+        "@vitest/ui": "4.1.11",
         "happy-dom": "*",
         "jsdom": "*",
         "vite": "^6.0.0 || ^7.0.0 || ^8.0.0"
@@ -7024,9 +6948,9 @@
       }
     },
     "node_modules/ws": {
-      "version": "8.21.0",
-      "resolved": "https://registry.npmjs.org/ws/-/ws-8.21.0.tgz",
-      "integrity": "sha512-Vsp28b7DRcimFQvrqu2Wek3z1iYxDCWqHYB8Qsnk/S4RfaCQzPGPyBNuVjJV3cd6UiKtUtp6sNM77gWvzcCH+g==",
+      "version": "8.21.3",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.21.3.tgz",
+      "integrity": "sha512-201TZ/kPWxoPr/OKWjquZR1SWKXcvxdH+e1xrx89b3YbmzLMFCLfnaG1HFIgWzJOEWZ7MvpK++odZufgYR50Rw==",
       "dev": true,
       "license": "MIT",
       "engines": {
@@ -7089,9 +7013,9 @@
       }
     },
     "node_modules/zustand": {
-      "version": "5.0.14",
-      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.14.tgz",
-      "integrity": "sha512-/8tAspM5LMPr28b3fwLYrtdj77ECpfZviaP75CMTnwO8ISyaE4GDIG/9rDDYq/cH9D2Xw2A2RXglLInmVBQB/g==",
+      "version": "5.0.15",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.15.tgz",
+      "integrity": "sha512-MpSEjRiBkA9crSYeOUH32rJC7SVqAbm0Fqcqge/bUi2PPoLcBWKOsG+C8mevmpr8TwXHBVkChbbJiyvkE+i/3A==",
       "dev": true,
       "license": "MIT",
       "engines": {
diff --git a/package.json b/package.json
index b758ab5..c1092dd 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@ioai/rosview",
-  "version": "1.7.9",
+  "version": "1.8.0",
   "description": "High-performance robotics data visualization for MCAP, ROS bag, ROS2 db3, HDF5 and BVH — embeddable React component and standalone SPA",
   "keywords": [
     "ros",
@@ -104,62 +104,62 @@
     "@mcap/browser": "^1.1.0",
     "@mcap/core": "^2.0.2",
     "@microsoft/api-extractor": "^7.58.12",
-    "@playwright/test": "^1.59.1",
-    "@radix-ui/react-collapsible": "^1.1.12",
-    "@radix-ui/react-dialog": "^1.1.5",
-    "@radix-ui/react-dropdown-menu": "^2.1.5",
-    "@radix-ui/react-menubar": "^1.1.16",
-    "@radix-ui/react-popover": "^1.1.15",
-    "@radix-ui/react-select": "^2.2.6",
-    "@radix-ui/react-separator": "^1.1.1",
-    "@radix-ui/react-slider": "^1.2.2",
-    "@radix-ui/react-slot": "^1.1.1",
-    "@radix-ui/react-tabs": "^1.1.2",
-    "@react-three/drei": "^10.0.0",
-    "@react-three/fiber": "^9.0.0",
+    "@playwright/test": "^1.62.1",
+    "@radix-ui/react-collapsible": "^1.1.20",
+    "@radix-ui/react-dialog": "^1.1.23",
+    "@radix-ui/react-dropdown-menu": "^2.1.24",
+    "@radix-ui/react-menubar": "^1.1.24",
+    "@radix-ui/react-popover": "^1.1.23",
+    "@radix-ui/react-select": "^2.3.7",
+    "@radix-ui/react-separator": "^1.1.15",
+    "@radix-ui/react-slider": "^1.4.7",
+    "@radix-ui/react-slot": "^1.3.3",
+    "@radix-ui/react-tabs": "^1.1.21",
+    "@react-three/drei": "^10.7.8",
+    "@react-three/fiber": "^9.7.0",
     "@types/cytoscape": "^3.21.9",
-    "@types/node": "^25.6.0",
-    "@types/react": "^19.2.15",
-    "@types/react-dom": "^19.2.3",
+    "@types/node": "^26.2.0",
+    "@types/react": "^19.2.18",
+    "@types/react-dom": "^19.2.4",
     "@types/sql.js": "^1.4.11",
-    "@types/three": "^0.173.0",
-    "@vitejs/plugin-react": "^6.0.1",
-    "@vitest/coverage-v8": "^4.1.10",
-    "autoprefixer": "^10.4.23",
+    "@types/three": "^0.185.4",
+    "@vitejs/plugin-react": "^6.0.5",
+    "@vitest/coverage-v8": "^4.1.11",
+    "autoprefixer": "^10.5.4",
     "class-variance-authority": "^0.7.1",
     "clsx": "^2.1.1",
     "cmdk": "^1.1.1",
     "comlink": "^4.4.1",
-    "cytoscape": "^3.33.2",
+    "cytoscape": "^3.34.1",
     "dockview": "^6.0.7",
     "dockview-core": "^6.0.7",
-    "eslint": "^10.8.0",
-    "eslint-plugin-react-hooks": "^7.0.1",
-    "eslint-plugin-react-refresh": "^0.5.2",
+    "eslint": "^10.8.1",
+    "eslint-plugin-react-hooks": "^7.1.1",
+    "eslint-plugin-react-refresh": "^0.5.4",
     "eventemitter3": "^5.0.1",
     "fflate": "^0.8.2",
     "flatbuffers": "^25.9.23",
-    "globals": "^17.4.0",
-    "happy-dom": "^20.9.0",
+    "globals": "^17.11.0",
+    "happy-dom": "^20.11.2",
     "intervals-fn": "^3.0.3",
-    "lucide-react": "^0.474.0",
+    "lucide-react": "^1.32.0",
     "lz4js": "^0.2.0",
-    "postcss": "^8.5.6",
-    "protobufjs": "^8.0.1",
-    "react": "^19.2.6",
-    "react-dom": "^19.2.6",
-    "react-intl": "^10.1.2",
-    "react-resizable-panels": "^4.10.0",
-    "sonner": "^2.0.7",
-    "sql.js": "^1.14.1",
+    "postcss": "^8.5.26",
+    "protobufjs": "^8.7.2",
+    "react": "^19.2.8",
+    "react-dom": "^19.2.8",
+    "react-intl": "^10.1.22",
+    "react-resizable-panels": "^4.12.3",
+    "sonner": "^2.0.8",
+    "sql.js": "^1.14.2",
     "tailwind-merge": "^3.5.0",
     "tailwindcss": "^3.4.17",
-    "three": "^0.173.0",
+    "three": "^0.185.1",
     "typescript": "6.0.3",
-    "typescript-eslint": "^8.58.0",
+    "typescript-eslint": "^8.67.0",
     "uplot": "^1.6.31",
-    "vite": "^8.0.14",
-    "vitest": "^4.1.4",
-    "zustand": "^5.0.3"
+    "vite": "^8.2.1",
+    "vitest": "^4.1.11",
+    "zustand": "^5.0.15"
   }
 }
diff --git a/src/core/players/IterablePlayer.test.ts b/src/core/players/IterablePlayer.test.ts
index c7874e5..15a4f73 100644
--- a/src/core/players/IterablePlayer.test.ts
+++ b/src/core/players/IterablePlayer.test.ts
@@ -5,6 +5,7 @@ import { useMessagePipelineStore } from '@/core/pipeline/store';
 import type { Initialization, MessageEvent } from '@/core/types/ros';
 import type { PlayerState } from '@/core/types/player';
 import type { WorkerSerializedSource } from '@/infra/workers/WorkerSerializedSource';
+import type { SourceInitProgressCallback } from '@/infra/workers/types';
 
 const TOPIC = '/camera/front/image/compressed';
 
@@ -1216,3 +1217,34 @@ describe('IterablePlayer topic metadata', () => {
     player.close();
   });
 });
+
+describe('IterablePlayer initialize progress', () => {
+  it('emits loadedBytes while presence is still initializing', async () => {
+    const gate = deferred<Initialization>();
+    const source = makeSource([]);
+    source.initialize = vi.fn(async (_args: Record<string, unknown>, onProgress?: SourceInitProgressCallback) => {
+      onProgress?.({ phase: 'downloading', loadedBytes: 12, totalBytes: 100, transferredBytes: 12 });
+      await gate.promise;
+      return makeInitialization();
+    });
+
+    const player = new IterablePlayer(source);
+    let latestState: PlayerState | undefined;
+    player.setListener((state) => {
+      latestState = state;
+    });
+
+    const pending = player.initialize({});
+    await flushAsyncWork();
+
+    expect(latestState?.presence).toBe('initializing');
+    expect(latestState?.progress.loadedBytes).toBe(12);
+    expect(latestState?.progress.totalBytes).toBe(100);
+    expect(latestState?.progress.initPhase).toBe('downloading');
+    expect(useMessagePipelineStore.getState().playerState.progress.loadedBytes).toBe(12);
+
+    gate.resolve(makeInitialization());
+    await pending;
+    player.close();
+  });
+});
diff --git a/src/core/players/IterablePlayer.ts b/src/core/players/IterablePlayer.ts
index 5711ddb..be9b590 100644
--- a/src/core/players/IterablePlayer.ts
+++ b/src/core/players/IterablePlayer.ts
@@ -9,7 +9,7 @@ import type {
 import { MAX_PLAYBACK_SPEED } from '@/core/types/player';
 import type { DataQualityReport, Time, Initialization, MessageEvent, TimeRange } from '@/core/types/ros';
 import type { ISourceHandle } from '@/infra/workers/ISourceHandle';
-import type { IMessageCursor } from '@/infra/workers/types';
+import type { IMessageCursor, SourceInitProgress } from '@/infra/workers/types';
 import { addMs, toNano } from '@/shared/utils/time';
 import { useMessagePipelineStore } from '@/core/pipeline/store';
 import { messageBus } from '@/core/pipeline/messageBus';
@@ -387,7 +387,9 @@ export class IterablePlayer implements Player {
 
     try {
       this._advancePlaybackEpoch();
-      this._initialization = await this._source.initialize(args);
+      this._initialization = await this._source.initialize(args, (progress) => {
+        this._applyInitProgress(progress);
+      });
       this._topicLastMessageNs.clear();
       this._currentTime = this._initialization.start;
       this._state.presence = "ready";
@@ -1194,6 +1196,25 @@ export class IterablePlayer implements Player {
     return time;
   }
 
+  private _applyInitProgress(progress: SourceInitProgress): void {
+    if (this._state.presence !== "initializing") {
+      return;
+    }
+    const percent =
+      progress.totalBytes > 0
+        ? Math.min(100, (progress.loadedBytes / progress.totalBytes) * 100)
+        : undefined;
+    this._state.progress = {
+      ...this._state.progress,
+      initPhase: progress.phase,
+      loadedBytes: progress.loadedBytes,
+      totalBytes: progress.totalBytes,
+      transferredBytes: progress.transferredBytes,
+      percent,
+    };
+    this._emitState();
+  }
+
   private _startLoadProgressPolling(): void {
     this._stopLoadProgressPolling();
     this._loadProgressPollId = globalThis.setInterval(() => {
diff --git a/src/core/types/player.ts b/src/core/types/player.ts
index fb57653..304e097 100644
--- a/src/core/types/player.ts
+++ b/src/core/types/player.ts
@@ -24,6 +24,9 @@ export interface Readable {
 
 export type PlayerPresence = 'preinit' | 'initializing' | 'ready' | 'closed';
 
+/** Worker-reported phase while a remote (or large local) source is opening. */
+export type SourceInitPhase = 'connecting' | 'downloading' | 'opening';
+
 export interface PlayerState {
   presence: PlayerPresence;
   progress: {
@@ -33,6 +36,12 @@ export interface PlayerState {
     downloadedByteRanges?: Range[];
     /** Total source bytes for byte-range diagnostics. */
     totalBytes?: number;
+    /** Bytes received in the current HTTP range (or full-file download). */
+    loadedBytes?: number;
+    /** Session-cumulative HTTP bytes transferred while opening. */
+    transferredBytes?: number;
+    /** Coarse initialize phase for the loading overlay. */
+    initPhase?: SourceInitPhase;
     /** Parsed/playable time ranges rendered on the playback track. */
     parsedMessageRanges?: TimeRange[];
     /** Current worker transport mode. */
diff --git a/src/features/layout/PanelTabHeader.tsx b/src/features/layout/PanelTabHeader.tsx
index 2041f18..55234fd 100644
--- a/src/features/layout/PanelTabHeader.tsx
+++ b/src/features/layout/PanelTabHeader.tsx
@@ -4,7 +4,14 @@ import { useIntl } from 'react-intl';
 import { Separator } from '@/shared/ui/separator';
 import { useElementWidth } from '@/shared/hooks/useElementWidth';
 import type { PanelType } from '../panels/framework';
-import { getPanelTypeFromId, listPanelStates, usePanelActions } from '../panels/framework';
+import {
+  extractPrimaryTopicFromConfig,
+  getPanelConfig,
+  getPanelState,
+  getPanelTypeFromId,
+  listPanelStates,
+  usePanelActions,
+} from '../panels/framework';
 import { PANEL_TYPE_MESSAGE_SLUG } from '../panels/framework/panelMessageSlug';
 import { PanelTypeIcon } from '../panels/framework/panelIcons';
 import {
@@ -98,9 +105,15 @@ export const PanelTabHeader: React.FC<IDockviewPanelHeaderProps> = ({ api, conta
 
   const addPanelWithPlacement = useCallback(
     (type: PanelType, placement: 'replace' | 'right' | 'below' | 'within') => {
+      const sourceConfig = getPanelConfig(api.id) ?? getPanelState(api.id)?.config;
+      const inheritedTopic =
+        type === 'RawMessages' ? extractPrimaryTopicFromConfig(sourceConfig) : undefined;
+      const config = inheritedTopic ? { topic: inheritedTopic } : undefined;
+
       if (placement === 'replace') {
         openDockviewPanel({
           type,
+          config,
           position: { referencePanel: api.id, direction: 'within' },
         });
         window.setTimeout(() => {
@@ -110,6 +123,7 @@ export const PanelTabHeader: React.FC<IDockviewPanelHeaderProps> = ({ api, conta
       }
       openDockviewPanel({
         type,
+        config,
         position: { referencePanel: api.id, direction: placement },
       });
     },
diff --git a/src/features/panels/RawMessages/RawMessagesPanel.tsx b/src/features/panels/RawMessages/RawMessagesPanel.tsx
index c624cec..54942c0 100644
--- a/src/features/panels/RawMessages/RawMessagesPanel.tsx
+++ b/src/features/panels/RawMessages/RawMessagesPanel.tsx
@@ -14,7 +14,7 @@ import { scheduleFrame } from '@/shared/utils/rafScheduler';
 import { TopicQuickPicker } from '../framework/TopicQuickPicker';
 import { PanelTopicBar } from '../framework/PanelTopicBar';
 import type { RawMessagesConfig } from './defaults';
-import { buildRowsForMessageEvent, type FlatRow } from './shapeTree';
+import { buildRowsForMessageEvent, isExpandableArray, type FlatRow } from './shapeTree';
 
 interface RawMessagesPanelProps {
   player: Player;
@@ -110,7 +110,7 @@ function readValueAtPath(event: MessageEvent | null | undefined, path: string):
   const parts = pathToParts(path.replace(/^message\./, ''));
   let current: unknown = event.message;
   for (const part of parts) {
-    if (Array.isArray(current)) {
+    if (isExpandableArray(current)) {
       const idx = Number(part);
       if (!Number.isInteger(idx)) return undefined;
       current = current[idx];
@@ -158,7 +158,7 @@ function previewPrimitive(value: unknown): string {
   if (typeof value === 'number' || typeof value === 'boolean') return String(value);
   if (value instanceof Uint8Array) return `Uint8Array(${value.byteLength})`;
   if (value instanceof ArrayBuffer) return `ArrayBuffer(${value.byteLength})`;
-  if (Array.isArray(value)) return `Array(${value.length})`;
+  if (isExpandableArray(value)) return `Array(${value.length})`;
   if (isPlainObject(value)) return `{${Object.keys(value).length} keys}`;
   if (typeof value === 'bigint') return `${value.toString()}n`;
   if (typeof value === 'function') return '[Function]';
@@ -206,7 +206,7 @@ export function describeValue(
   if (value instanceof ArrayBuffer) {
     return describeValue(new Uint8Array(value), maxBinaryPreviewBytes, options);
   }
-  if (Array.isArray(value)) return { text: `Array(${value.length})`, kind: 'array' };
+  if (isExpandableArray(value)) return { text: `Array(${value.length})`, kind: 'array' };
   if (isPlainObject(value)) {
     return { text: previewObject(value) ?? `{${Object.keys(value).length} keys}`, kind: 'object' };
   }
@@ -257,7 +257,9 @@ function serializeForCopy(value: unknown, binaryFormat: BinaryCopyFormat): unkno
     return { __type: 'Uint8Array', data: Array.from(value) };
   }
   if (value instanceof ArrayBuffer) return serializeForCopy(new Uint8Array(value), binaryFormat);
-  if (Array.isArray(value)) return value.map((entry) => serializeForCopy(entry, binaryFormat));
+  if (isExpandableArray(value)) {
+    return Array.from(value, (entry) => serializeForCopy(entry, binaryFormat));
+  }
   if (isPlainObject(value)) {
     const out: Record<string, unknown> = {};
     for (const [key, entry] of Object.entries(value)) out[key] = serializeForCopy(entry, binaryFormat);
diff --git a/src/features/panels/RawMessages/describeValue.test.ts b/src/features/panels/RawMessages/describeValue.test.ts
index 6c474ca..56d74ab 100644
--- a/src/features/panels/RawMessages/describeValue.test.ts
+++ b/src/features/panels/RawMessages/describeValue.test.ts
@@ -35,4 +35,16 @@ describe('describeValue', () => {
     expect(visual.text).toContain('100.500000000');
     expect(visual.kind).toBe('number');
   });
+
+  it('describes Float64Array as an expandable Array(n) preview', () => {
+    const visual = describeValue(new Float64Array(16), 256);
+    expect(visual.text).toBe('Array(16)');
+    expect(visual.kind).toBe('array');
+  });
+
+  it('still treats Uint8Array as binary', () => {
+    const visual = describeValue(new Uint8Array([0x00, 0x01]), 256);
+    expect(visual.kind).toBe('binary');
+    expect(visual.text).toBe('Uint8Array(2) 0x0001');
+  });
 });
diff --git a/src/features/panels/RawMessages/shapeTree.test.ts b/src/features/panels/RawMessages/shapeTree.test.ts
index cb3c529..0f27a34 100644
--- a/src/features/panels/RawMessages/shapeTree.test.ts
+++ b/src/features/panels/RawMessages/shapeTree.test.ts
@@ -1,6 +1,6 @@
 import { describe, expect, it } from 'vitest';
 import type { MessageEvent } from '@/core/types/ros';
-import { buildRowsForMessageEvent } from './shapeTree';
+import { buildRowsForMessageEvent, buildRowsForShape } from './shapeTree';
 
 describe('buildRowsForMessageEvent', () => {
   it('includes log_time and publish_time rows before message', () => {
@@ -17,3 +17,35 @@ describe('buildRowsForMessageEvent', () => {
     expect(shape.signature.startsWith('log_time:time|publish_time:time|')).toBe(true);
   });
 });
+
+describe('buildRowsForShape typed arrays', () => {
+  it('expands Float64Array fields the same way as regular arrays', () => {
+    const { rows } = buildRowsForShape(
+      {
+        name: ['abad_L_Joint', 'hip_L_Joint'],
+        position: new Float64Array([-1.6e-10, 0.25]),
+      },
+      4,
+      2000,
+    );
+    const byPath = new Map(rows.map((row) => [row.path, row]));
+
+    expect(byPath.get('message.position')).toMatchObject({
+      expandable: true,
+      parentIsArray: false,
+    });
+    expect(byPath.get('message.position.0')).toMatchObject({
+      key: '0',
+      expandable: false,
+      parentIsArray: true,
+    });
+    expect(byPath.has('message.position.1')).toBe(true);
+  });
+
+  it('keeps Uint8Array payloads as a non-expandable binary leaf', () => {
+    const { rows } = buildRowsForShape({ data: new Uint8Array([1, 2, 3, 4]) }, 4, 2000);
+    const dataRow = rows.find((row) => row.path === 'message.data');
+    expect(dataRow).toMatchObject({ expandable: false });
+    expect(rows.some((row) => row.path === 'message.data.0')).toBe(false);
+  });
+});
diff --git a/src/features/panels/RawMessages/shapeTree.ts b/src/features/panels/RawMessages/shapeTree.ts
index 65c32c5..afd4669 100644
--- a/src/features/panels/RawMessages/shapeTree.ts
+++ b/src/features/panels/RawMessages/shapeTree.ts
@@ -25,6 +25,12 @@ function isPlainObject(value: unknown): value is Record<string, unknown> {
   return proto === Object.prototype || proto === null;
 }
 
+/** Arrays and numeric TypedArrays. Uint8Array stays binary so image payloads do not explode. */
+export function isExpandableArray(value: unknown): value is ArrayLike<unknown> {
+  if (Array.isArray(value)) return true;
+  return ArrayBuffer.isView(value) && !(value instanceof DataView) && !(value instanceof Uint8Array);
+}
+
 export function buildRowsForShape(
   root: unknown,
   maxExpandedDepth: number,
@@ -46,7 +52,7 @@ export function buildRowsForShape(
         ? 'u8'
         : value instanceof ArrayBuffer
           ? 'ab'
-          : Array.isArray(value)
+          : isExpandableArray(value)
             ? 'arr'
             : isPlainObject(value)
               ? 'obj'
@@ -61,7 +67,7 @@ export function buildRowsForShape(
       walk(new Uint8Array(value), path, key, depth, parentIsArray);
       return;
     }
-    if (Array.isArray(value)) {
+    if (isExpandableArray(value)) {
       const expandable = value.length > 0;
       pushRow({ id: path, path, key, depth, expandable, parentIsArray });
       if (depth >= maxExpandedDepth) return;
diff --git a/src/features/panels/ThreeD/core/renderables.ts b/src/features/panels/ThreeD/core/renderables.ts
index 20c1c3e..d873bb8 100644
--- a/src/features/panels/ThreeD/core/renderables.ts
+++ b/src/features/panels/ThreeD/core/renderables.ts
@@ -556,6 +556,9 @@ function loadCollada(text: string, meshUrl: string, meshUpAxis: MeshUpAxis): THR
   const xml = new DOMParser().parseFromString(text, 'application/xml');
   const upAxis = (xml.querySelector('up_axis')?.textContent ?? 'Y_UP').trim().toUpperCase();
   const collada = new ColladaLoader().parse(xml.documentElement.outerHTML, meshUrl);
+  if (!collada) {
+    throw new Error(`Failed to parse Collada mesh: ${meshUrl}`);
+  }
   if (meshUpAxis === 'y_up' && upAxis === 'Y_UP') {
     collada.scene.rotateX(Math.PI / 2);
   }
diff --git a/src/features/panels/framework/extractPrimaryTopicFromConfig.test.ts b/src/features/panels/framework/extractPrimaryTopicFromConfig.test.ts
new file mode 100644
index 0000000..0f807ee
--- /dev/null
+++ b/src/features/panels/framework/extractPrimaryTopicFromConfig.test.ts
@@ -0,0 +1,56 @@
+import { describe, expect, it } from 'vitest';
+import { extractPrimaryTopicFromConfig } from './extractPrimaryTopicFromConfig';
+
+describe('extractPrimaryTopicFromConfig', () => {
+  it('reads a top-level topic used by Image/Audio/Raw/JointStatePlot', () => {
+    expect(extractPrimaryTopicFromConfig({ topic: '/joint_command' })).toBe('/joint_command');
+  });
+
+  it('ignores blank top-level topics', () => {
+    expect(extractPrimaryTopicFromConfig({ topic: '   ' })).toBeUndefined();
+    expect(extractPrimaryTopicFromConfig({ topic: '' })).toBeUndefined();
+    expect(extractPrimaryTopicFromConfig(undefined)).toBeUndefined();
+    expect(extractPrimaryTopicFromConfig(null)).toBeUndefined();
+  });
+
+  it('reads the first non-empty Plot series topic', () => {
+    expect(
+      extractPrimaryTopicFromConfig({
+        series: [{ topic: '' }, { topic: '/imu' }, { topic: '/later' }],
+      }),
+    ).toBe('/imu');
+  });
+
+  it('reads the first enabled 3D topicSetting and ignores urdf.topic', () => {
+    expect(
+      extractPrimaryTopicFromConfig({
+        urdf: { topic: '/robot_description' },
+        topicSettings: [
+          { topic: '/disabled_scan', enabled: false },
+          { topic: '/points', enabled: true },
+        ],
+      }),
+    ).toBe('/points');
+  });
+
+  it('does not fall back to urdf.topic when 3D has no enabled topicSettings', () => {
+    expect(
+      extractPrimaryTopicFromConfig({
+        urdf: { topic: '/robot_description' },
+        topicSettings: [{ topic: '/cloud', enabled: false }],
+      }),
+    ).toBeUndefined();
+  });
+
+  it('reads Pose topics[].topic', () => {
+    expect(
+      extractPrimaryTopicFromConfig({
+        topics: [{ topic: '', enabled: true }, { topic: '/odom' }],
+      }),
+    ).toBe('/odom');
+  });
+
+  it('reads Align topics[] strings', () => {
+    expect(extractPrimaryTopicFromConfig({ topics: ['/cam_left', '/cam_right'] })).toBe('/cam_left');
+  });
+});
diff --git a/src/features/panels/framework/extractPrimaryTopicFromConfig.ts b/src/features/panels/framework/extractPrimaryTopicFromConfig.ts
new file mode 100644
index 0000000..624c6d9
--- /dev/null
+++ b/src/features/panels/framework/extractPrimaryTopicFromConfig.ts
@@ -0,0 +1,49 @@
+function nonEmptyTopic(value: unknown): string | undefined {
+  if (typeof value !== 'string') return undefined;
+  const topic = value.trim();
+  return topic.length > 0 ? topic : undefined;
+}
+
+function topicFromRecord(value: unknown): string | undefined {
+  if (!value || typeof value !== 'object') return undefined;
+  return nonEmptyTopic((value as { topic?: unknown }).topic);
+}
+
+/**
+ * Best-effort primary topic from a panel config.
+ * Looks at the fields used by Image/Audio/Raw/JointStatePlot, Plot series,
+ * 3D topicSettings (not urdf.topic), and Align/Pose topics lists.
+ */
+export function extractPrimaryTopicFromConfig(config: unknown): string | undefined {
+  if (!config || typeof config !== 'object') return undefined;
+  const record = config as Record<string, unknown>;
+
+  const direct = nonEmptyTopic(record.topic);
+  if (direct) return direct;
+
+  if (Array.isArray(record.series)) {
+    for (const series of record.series) {
+      const topic = topicFromRecord(series);
+      if (topic) return topic;
+    }
+  }
+
+  if (Array.isArray(record.topicSettings)) {
+    for (const setting of record.topicSettings) {
+      if (!setting || typeof setting !== 'object') continue;
+      const entry = setting as { topic?: unknown; enabled?: unknown };
+      if (entry.enabled === false) continue;
+      const topic = nonEmptyTopic(entry.topic);
+      if (topic) return topic;
+    }
+  }
+
+  if (Array.isArray(record.topics)) {
+    for (const entry of record.topics) {
+      const topic = nonEmptyTopic(entry) ?? topicFromRecord(entry);
+      if (topic) return topic;
+    }
+  }
+
+  return undefined;
+}
diff --git a/src/features/panels/framework/index.ts b/src/features/panels/framework/index.ts
index 703b67a..aebe965 100644
--- a/src/features/panels/framework/index.ts
+++ b/src/features/panels/framework/index.ts
@@ -1,4 +1,5 @@
 export { createPanelInstanceId, getPanelTypeFromId, markPanelInstanceId } from './ids';
+export { extractPrimaryTopicFromConfig } from './extractPrimaryTopicFromConfig';
 export {
   collectExtras,
   FOXGLOVE_PANEL_TITLE_KEY,
diff --git a/src/features/workspace/common/LoadingOverlay.test.tsx b/src/features/workspace/common/LoadingOverlay.test.tsx
new file mode 100644
index 0000000..babed08
--- /dev/null
+++ b/src/features/workspace/common/LoadingOverlay.test.tsx
@@ -0,0 +1,74 @@
+/**
+ * @vitest-environment happy-dom
+ */
+import { act } from 'react';
+import { createRoot, type Root } from 'react-dom/client';
+import { afterEach, beforeEach, describe, expect, it } from 'vitest';
+import { IntlProvider } from 'react-intl';
+import { useMessagePipelineStore } from '@/core/pipeline/store';
+import { getRosViewMessages } from '@/shared/intl/loadRosViewMessages';
+import { LoadingOverlay } from './LoadingOverlay';
+
+(globalThis as unknown as { IS_REACT_ACT_ENVIRONMENT: boolean }).IS_REACT_ACT_ENVIRONMENT = true;
+
+const enMessages = getRosViewMessages('en');
+
+describe('LoadingOverlay', () => {
+  let container: HTMLDivElement;
+  let root: Root;
+
+  beforeEach(() => {
+    container = document.createElement('div');
+    document.body.appendChild(container);
+    root = createRoot(container);
+  });
+
+  afterEach(() => {
+    act(() => root.unmount());
+    container.remove();
+    useMessagePipelineStore.setState({
+      playerState: { presence: 'preinit', progress: {} },
+    });
+  });
+
+  function renderOverlay(sourceName?: string): void {
+    act(() => {
+      root.render(
+        <IntlProvider locale="en" messages={enMessages}>
+          <LoadingOverlay sourceName={sourceName} />
+        </IntlProvider>,
+      );
+    });
+  }
+
+  it('shows the file basename and determinate progress, not Preparing', () => {
+    useMessagePipelineStore.getState().setPlayerState({
+      presence: 'initializing',
+      progress: {
+        loadedBytes: 12_582_912,
+        totalBytes: 52_428_800,
+        initPhase: 'downloading',
+      },
+    });
+
+    renderOverlay(
+      'https://rosview-samples-1328702871.cos.accelerate.myqcloud.com/RealMan_PicknPlace.mcap',
+    );
+
+    expect(container.textContent).toContain('Loading');
+    expect(container.textContent).toContain('RealMan_PicknPlace.mcap');
+    expect(container.textContent).not.toContain('Preparing');
+    expect(container.textContent).not.toContain('https://rosview-samples');
+    expect(container.querySelector('[data-testid="rosview-loading-progress-bar"]')).not.toBeNull();
+    expect(container.querySelector('[data-testid="rosview-loading-stats"]')?.textContent).toContain(
+      '12.0 MB / 50.0 MB',
+    );
+  });
+
+  it('uses an indeterminate bar before byte totals are known', () => {
+    renderOverlay();
+    expect(container.querySelector('[data-testid="rosview-loading-progress-indeterminate"]')).not.toBeNull();
+    expect(container.querySelector('[data-testid="rosview-loading-progress-bar"]')).toBeNull();
+    expect(container.textContent).not.toContain('Preparing');
+  });
+});
diff --git a/src/features/workspace/common/LoadingOverlay.tsx b/src/features/workspace/common/LoadingOverlay.tsx
index d6a581c..2967a49 100644
--- a/src/features/workspace/common/LoadingOverlay.tsx
+++ b/src/features/workspace/common/LoadingOverlay.tsx
@@ -1,8 +1,13 @@
 import React from 'react';
 import { useIntl } from 'react-intl';
+import { useMessagePipeline } from '@/core/pipeline/useMessagePipeline';
 import { Button } from '@/shared/ui/button';
 import { Card, CardFooter, CardHeader, CardTitle } from '@/shared/ui/card';
 import { Spinner } from '@/shared/ui/spinner';
+import { formatBytes } from '@/shared/utils/formatBytes';
+import { estimateEtaSeconds, formatEtaParts } from '@/shared/utils/formatEta';
+import { sourceDisplayName } from '@/shared/utils/sourceDisplayName';
+import { useTransferRate } from './useTransferRate';
 
 interface LoadingOverlayProps {
   sourceName?: string;
@@ -11,6 +16,40 @@ interface LoadingOverlayProps {
 
 export const LoadingOverlay: React.FC<LoadingOverlayProps> = ({ sourceName, onCancel }) => {
   const { formatMessage } = useIntl();
+  const loadedBytes = useMessagePipeline((state) => state.playerState.progress.loadedBytes);
+  const totalBytes = useMessagePipeline((state) => state.playerState.progress.totalBytes);
+  const bytesPerSecond = useTransferRate(loadedBytes);
+  const displayName = sourceDisplayName(sourceName);
+  const hasTotal = typeof totalBytes === 'number' && totalBytes > 0;
+  const hasLoaded = typeof loadedBytes === 'number' && loadedBytes >= 0;
+  const percent = hasTotal && hasLoaded ? Math.min(100, (loadedBytes / totalBytes) * 100) : undefined;
+  const loadedLabel = hasLoaded ? formatBytes(loadedBytes) : undefined;
+  const totalLabel = hasTotal ? formatBytes(totalBytes) : undefined;
+  const speedLabel =
+    bytesPerSecond != null && bytesPerSecond > 0
+      ? formatMessage({ id: 'welcome.loadingSpeed' }, { speed: formatBytes(bytesPerSecond) ?? '' })
+      : undefined;
+  const etaSeconds =
+    hasTotal && hasLoaded && bytesPerSecond != null
+      ? estimateEtaSeconds(totalBytes - loadedBytes, bytesPerSecond)
+      : undefined;
+  const etaParts = etaSeconds != null ? formatEtaParts(etaSeconds) : undefined;
+  const etaLabel = etaParts
+    ? formatMessage(
+        {
+          id:
+            etaParts.unit === 'hours'
+              ? 'welcome.loadingEtaHours'
+              : etaParts.unit === 'minutes'
+                ? 'welcome.loadingEtaMinutes'
+                : 'welcome.loadingEtaSeconds',
+        },
+        { n: etaParts.n },
+      )
+    : undefined;
+  const stats = [loadedLabel && totalLabel ? `${loadedLabel} / ${totalLabel}` : loadedLabel, speedLabel, etaLabel]
+    .filter((part): part is string => Boolean(part))
+    .join(' · ');
 
   return (
     <div
@@ -26,14 +65,38 @@ export const LoadingOverlay: React.FC<LoadingOverlayProps> = ({ sourceName, onCa
           <CardTitle className="text-base font-semibold tracking-tight">
             {formatMessage({ id: 'welcome.loadingTitle' })}
           </CardTitle>
-          {sourceName ? (
+          {displayName ? (
             <p className="truncate text-xs text-muted-foreground" title={sourceName}>
-              {sourceName}
+              {displayName}
+            </p>
+          ) : null}
+          {percent != null ? (
+            <div
+              className="h-1.5 w-full overflow-hidden rounded-full bg-muted"
+              data-testid="rosview-loading-progress-bar"
+              role="progressbar"
+              aria-valuemin={0}
+              aria-valuemax={100}
+              aria-valuenow={Math.round(percent)}
+            >
+              <div
+                className="h-full bg-primary transition-[width] duration-150 ease-out"
+                style={{ width: `${percent}%` }}
+              />
+            </div>
+          ) : (
+            <div
+              className="h-1.5 w-full overflow-hidden rounded-full bg-muted"
+              data-testid="rosview-loading-progress-indeterminate"
+            >
+              <div className="h-full w-full animate-pulse bg-primary/40" />
+            </div>
+          )}
+          {stats ? (
+            <p className="text-xs text-muted-foreground" data-testid="rosview-loading-stats">
+              {stats}
             </p>
           ) : null}
-          <p className="text-xs text-muted-foreground">
-            {formatMessage({ id: 'welcome.loadingPhase.preparing' })}
-          </p>
         </CardHeader>
         {onCancel ? (
           <CardFooter className="justify-center pt-0">
diff --git a/src/features/workspace/common/useTransferRate.ts b/src/features/workspace/common/useTransferRate.ts
new file mode 100644
index 0000000..666c8b4
--- /dev/null
+++ b/src/features/workspace/common/useTransferRate.ts
@@ -0,0 +1,37 @@
+import { useEffect, useRef, useState } from 'react';
+
+const WINDOW_MS = 3000;
+const MIN_SAMPLE_MS = 200;
+
+/** Sliding-window bytes/sec from a monotonically increasing (or resetting) byte counter. */
+export function useTransferRate(loadedBytes: number | undefined): number | undefined {
+  const samplesRef = useRef<Array<{ t: number; bytes: number }>>([]);
+  const [bps, setBps] = useState<number | undefined>();
+
+  useEffect(() => {
+    if (loadedBytes == null || !Number.isFinite(loadedBytes) || loadedBytes < 0) {
+      return;
+    }
+    const now = performance.now();
+    const samples = samplesRef.current;
+    const last = samples[samples.length - 1];
+    if (last && loadedBytes < last.bytes) {
+      samples.length = 0;
+    }
+    samples.push({ t: now, bytes: loadedBytes });
+    const cutoff = now - WINDOW_MS;
+    while (samples.length > 1 && samples[0].t < cutoff) {
+      samples.shift();
+    }
+    if (samples.length >= 2) {
+      const first = samples[0];
+      const latest = samples[samples.length - 1];
+      const dt = (latest.t - first.t) / 1000;
+      if (dt * 1000 >= MIN_SAMPLE_MS) {
+        setBps((latest.bytes - first.bytes) / dt);
+      }
+    }
+  }, [loadedBytes]);
+
+  return bps;
+}
diff --git a/src/features/workspace/navbar/Navbar.tsx b/src/features/workspace/navbar/Navbar.tsx
index d491612..414b0ac 100644
--- a/src/features/workspace/navbar/Navbar.tsx
+++ b/src/features/workspace/navbar/Navbar.tsx
@@ -19,6 +19,7 @@ import {
   Upload,
 } from 'lucide-react';
 import { useIntl } from 'react-intl';
+import { sourceDisplayName } from '@/shared/utils/sourceDisplayName';
 import {
   Menubar,
   MenubarContent,
@@ -168,8 +169,10 @@ export const Navbar: React.FC<NavbarProps> = ({
 
   const hasOpenMenu =
     onOpenFilePick || onOpenDirectory || onOpenTarPick || onOpenRemotePrompt || onOpenSampleDialog;
-  const showCenter = Boolean(sourceLoading || (sourceName && sourceName.trim().length > 0));
-  const centerLabel = sourceLoading ? formatMessage({ id: 'navbar.sourceLoading' }) : (sourceName ?? '');
+  const displayName = sourceDisplayName(sourceName);
+  const showCenter = Boolean(sourceLoading || displayName);
+  const centerLabel = sourceLoading ? formatMessage({ id: 'navbar.sourceLoading' }) : (displayName ?? '');
+  const centerTitle = sourceLoading ? centerLabel : (sourceName?.trim() || centerLabel);
   const brandText = brandLabel ?? formatMessage({ id: 'common.productName' });
   const brandAccessibleName = brandLabel ?? formatMessage({ id: 'navbar.goHome' });
 
@@ -352,7 +355,7 @@ export const Navbar: React.FC<NavbarProps> = ({
                 className={`block min-w-0 flex-1 truncate text-center text-sm font-medium tracking-tight ${
                   sourceLoading ? 'text-muted-foreground' : 'text-foreground'
                 }`}
-                title={centerLabel}
+                title={centerTitle}
               >
                 {centerLabel}
               </span>
diff --git a/src/infra/services/BrowserHttpReader.test.ts b/src/infra/services/BrowserHttpReader.test.ts
new file mode 100644
index 0000000..5f528ce
--- /dev/null
+++ b/src/infra/services/BrowserHttpReader.test.ts
@@ -0,0 +1,45 @@
+import { afterEach, describe, expect, it, vi } from 'vitest';
+import { BrowserHttpReader } from './BrowserHttpReader';
+
+describe('BrowserHttpReader streaming progress', () => {
+  afterEach(() => {
+    vi.unstubAllGlobals();
+  });
+
+  it('reports incremental progress while streaming a range', async () => {
+    const part1 = new Uint8Array([1, 2, 3, 4]);
+    const part2 = new Uint8Array([5, 6, 7, 8]);
+    vi.stubGlobal(
+      'fetch',
+      vi.fn(async () => {
+        return new Response(
+          new ReadableStream<Uint8Array>({
+            start(controller) {
+              controller.enqueue(part1);
+              controller.enqueue(part2);
+              controller.close();
+            },
+          }),
+          {
+            status: 206,
+            headers: {
+              'Content-Range': 'bytes 0-7/100',
+              'Content-Length': '8',
+            },
+          },
+        );
+      }),
+    );
+
+    const reader = new BrowserHttpReader('https://example.com/file.mcap');
+    const updates: Array<[number, number]> = [];
+    const data = await reader.read(0, 8, undefined, (received, expected) => {
+      updates.push([received, expected]);
+    });
+
+    expect(Array.from(data)).toEqual([1, 2, 3, 4, 5, 6, 7, 8]);
+    expect(updates.length).toBeGreaterThanOrEqual(2);
+    expect(updates[updates.length - 1]).toEqual([8, 8]);
+    expect(updates[0][0]).toBeLessThan(updates[updates.length - 1][0]);
+  });
+});
diff --git a/src/infra/services/BrowserHttpReader.ts b/src/infra/services/BrowserHttpReader.ts
index 93f99ab..c751756 100644
--- a/src/infra/services/BrowserHttpReader.ts
+++ b/src/infra/services/BrowserHttpReader.ts
@@ -1,6 +1,8 @@
+export type HttpReadProgress = (received: number, expected: number) => void;
+
 export interface HttpReader {
   size(): number;
-  read(offset: number, length: number, signal?: AbortSignal): Promise<Uint8Array>;
+  read(offset: number, length: number, signal?: AbortSignal, onProgress?: HttpReadProgress): Promise<Uint8Array>;
 }
 
 export type BrowserHttpReaderOptions = {
@@ -99,7 +101,12 @@ export class BrowserHttpReader implements HttpReader {
     return this._size;
   }
 
-  async read(offset: number, length: number, signal?: AbortSignal): Promise<Uint8Array> {
+  async read(
+    offset: number,
+    length: number,
+    signal?: AbortSignal,
+    onProgress?: HttpReadProgress,
+  ): Promise<Uint8Array> {
     if (length === 0) {
       return new Uint8Array();
     }
@@ -108,8 +115,15 @@ export class BrowserHttpReader implements HttpReader {
       for (let pos = offset; pos < offset + length; pos += RANGE_PART_BYTES) {
         parts.push({ start: pos, len: Math.min(RANGE_PART_BYTES, offset + length - pos) });
       }
+      const receivedByPart = new Array<number>(parts.length).fill(0);
       const chunks = await Promise.all(
-        parts.map(({ start, len }) => this.#readOneRange(start, len, signal)),
+        parts.map(({ start, len }, index) =>
+          this.#readOneRange(start, len, signal, (received) => {
+            receivedByPart[index] = received;
+            const sum = receivedByPart.reduce((acc, value) => acc + value, 0);
+            onProgress?.(sum, length);
+          }),
+        ),
       );
       const out = new Uint8Array(length);
       let at = 0;
@@ -119,7 +133,7 @@ export class BrowserHttpReader implements HttpReader {
       }
       return out;
     }
-    return this.#readOneRange(offset, length, signal);
+    return this.#readOneRange(offset, length, signal, onProgress);
   }
 
   async #fetchWithRetry(url: string, init: RequestInit): Promise<Response> {
@@ -142,7 +156,12 @@ export class BrowserHttpReader implements HttpReader {
     throw new Error(`fetchWithRetry exhausted for ${url}`);
   }
 
-  async #readOneRange(offset: number, length: number, signal?: AbortSignal): Promise<Uint8Array> {
+  async #readOneRange(
+    offset: number,
+    length: number,
+    signal?: AbortSignal,
+    onProgress?: HttpReadProgress,
+  ): Promise<Uint8Array> {
     const end = offset + length - 1;
     const response = await this.#fetchWithRetry(this._url, {
       headers: { Range: `bytes=${offset}-${end}` },
@@ -158,7 +177,10 @@ export class BrowserHttpReader implements HttpReader {
       );
     }
 
-    const buf = new Uint8Array(await response.arrayBuffer());
+    const headerLen = Number(response.headers.get('content-length') ?? '');
+    const expected =
+      Number.isFinite(headerLen) && headerLen > 0 ? headerLen : length;
+    const buf = await this.#readResponseBody(response, expected, onProgress);
 
     if (response.status === 206) {
       if (buf.byteLength === length) {
@@ -181,4 +203,39 @@ export class BrowserHttpReader implements HttpReader {
     }
     throw new Error(`Unexpected response length ${buf.byteLength} for range length ${length}`);
   }
+
+  async #readResponseBody(
+    response: Response,
+    expected: number,
+    onProgress?: HttpReadProgress,
+  ): Promise<Uint8Array> {
+    if (!response.body) {
+      const buf = new Uint8Array(await response.arrayBuffer());
+      onProgress?.(buf.byteLength, expected > 0 ? expected : buf.byteLength);
+      return buf;
+    }
+
+    const reader = response.body.getReader();
+    const chunks: Uint8Array[] = [];
+    let received = 0;
+    for (;;) {
+      const { done, value } = await reader.read();
+      if (done) {
+        break;
+      }
+      if (value) {
+        chunks.push(value);
+        received += value.byteLength;
+        onProgress?.(received, expected > 0 ? expected : received);
+      }
+    }
+
+    const out = new Uint8Array(received);
+    let offset = 0;
+    for (const chunk of chunks) {
+      out.set(chunk, offset);
+      offset += chunk.byteLength;
+    }
+    return out;
+  }
 }
diff --git a/src/infra/services/CachedFilelike.test.ts b/src/infra/services/CachedFilelike.test.ts
index e9b58ab..0f4b109 100644
--- a/src/infra/services/CachedFilelike.test.ts
+++ b/src/infra/services/CachedFilelike.test.ts
@@ -12,6 +12,10 @@ class TestStream extends EventEmitter<FileStreamEvents> implements FileStream {
   public emitData(data: number[]): void {
     this.emit('data', new Uint8Array(data));
   }
+
+  public emitProgress(received: number, total: number): void {
+    this.emit('progress', received, total);
+  }
 }
 
 class TestFileReader {
@@ -175,6 +179,30 @@ describe('CachedFilelike input validation', () => {
   });
 });
 
+describe('CachedFilelike download progress', () => {
+  it('forwards stream progress to onDownloadProgress', async () => {
+    const reader = new TestFileReader();
+    const updates: Array<{ loadedBytes: number; totalBytes: number; transferredBytes: number }> = [];
+    const filelike = new CachedFilelike({
+      fileReader: reader,
+      cacheSizeInBytes: 32,
+      fetchBlockSizeInBytes: 8,
+      onDownloadProgress: (info) => updates.push({ ...info }),
+    });
+
+    const readPromise = filelike.read(0, 8);
+    await flushAsyncWork();
+    expect(reader.streams).toHaveLength(1);
+
+    reader.streams[0].emitProgress(4, 8);
+    reader.streams[0].emitData([0, 1, 2, 3, 4, 5, 6, 7]);
+    await readPromise;
+
+    expect(updates.some((update) => update.loadedBytes === 4 && update.totalBytes === 8)).toBe(true);
+    expect(updates[0].transferredBytes).toBeGreaterThan(0);
+  });
+});
+
 describe('CachedFilelike avoids re-fetching already-satisfied ranges', () => {
   it('does not issue a second fetch for a block that is already fully downloaded', async () => {
     const reader = new TestFileReader();
diff --git a/src/infra/services/CachedFilelike.ts b/src/infra/services/CachedFilelike.ts
index 822a8fe..0b36a6c 100644
--- a/src/infra/services/CachedFilelike.ts
+++ b/src/infra/services/CachedFilelike.ts
@@ -5,9 +5,16 @@ import EventEmitter from "eventemitter3";
 
 export type FileStreamEvents = {
   data: (chunk: Uint8Array) => void;
+  progress: (received: number, total: number) => void;
   error: (err: Error) => void;
 };
 
+export type DownloadProgressInfo = {
+  loadedBytes: number;
+  totalBytes: number;
+  transferredBytes: number;
+};
+
 export interface FileStream extends EventEmitter<FileStreamEvents> {
   destroy: () => void;
 }
@@ -43,6 +50,9 @@ export default class CachedFilelike implements Readable {
   #virtualBuffer: VirtualLRUBuffer;
   #closed: boolean = false;
   #keepReconnectingCallback?: (reconnecting: boolean) => void;
+  #onDownloadProgress?: (info: DownloadProgressInfo) => void;
+  #transferredBytes = 0;
+  #currentRequestReceived = 0;
 
   #currentConnection: { stream: FileStream; remainingRange: Range; kind: "read" | "prefetch" } | undefined;
 
@@ -64,6 +74,7 @@ export default class CachedFilelike implements Readable {
     maxRequestSizeInBytes?: number;
     preferCacheViews?: boolean;
     keepReconnectingCallback?: (reconnecting: boolean) => void;
+    onDownloadProgress?: (info: DownloadProgressInfo) => void;
   }) {
     this.#fileReader = options.fileReader;
     this.#cacheSizeInBytes = options.cacheSizeInBytes ?? this.#cacheSizeInBytes;
@@ -80,6 +91,7 @@ export default class CachedFilelike implements Readable {
     );
     this.#preferCacheViews = options.preferCacheViews ?? false;
     this.#keepReconnectingCallback = options.keepReconnectingCallback;
+    this.#onDownloadProgress = options.onDownloadProgress;
     this.#virtualBuffer = new VirtualLRUBuffer({ size: 0 });
   }
 
@@ -326,6 +338,22 @@ export default class CachedFilelike implements Readable {
 
     const stream = this.#fileReader.fetch(range.start, range.end - range.start);
     this.#currentConnection = { stream, remainingRange: range, kind };
+    this.#currentRequestReceived = 0;
+    const requestTotal = range.end - range.start;
+
+    stream.on("progress", (received: number, total: number) => {
+      const currentConnection = this.#currentConnection;
+      if (!currentConnection || stream !== currentConnection.stream) {
+        return;
+      }
+      const safeReceived = Math.max(0, received);
+      const delta = safeReceived - this.#currentRequestReceived;
+      if (delta > 0) {
+        this.#transferredBytes += delta;
+        this.#currentRequestReceived = safeReceived;
+      }
+      this.#reportDownloadProgress(safeReceived, total > 0 ? total : requestTotal);
+    });
 
     stream.on("error", (error: Error) => {
       console.error(`Connection error @ ${range.start}-${range.end}:`, error);
@@ -384,6 +412,10 @@ export default class CachedFilelike implements Readable {
 
       this.#virtualBuffer.copyFrom(chunk, currentConnection.remainingRange.start);
       bytesRead += chunk.byteLength;
+      if (this.#currentRequestReceived === 0 && chunk.byteLength > 0) {
+        this.#transferredBytes += chunk.byteLength;
+        this.#reportDownloadProgress(bytesRead, requestTotal);
+      }
 
       if (this.#virtualBuffer.hasData(range.start, range.end)) {
         stream.destroy();
@@ -399,4 +431,12 @@ export default class CachedFilelike implements Readable {
       this.#updateState();
     });
   }
+
+  #reportDownloadProgress(loadedBytes: number, totalBytes: number): void {
+    this.#onDownloadProgress?.({
+      loadedBytes,
+      totalBytes,
+      transferredBytes: this.#transferredBytes,
+    });
+  }
 }
diff --git a/src/infra/services/HttpFileReader.ts b/src/infra/services/HttpFileReader.ts
index 8430f76..326053e 100644
--- a/src/infra/services/HttpFileReader.ts
+++ b/src/infra/services/HttpFileReader.ts
@@ -8,7 +8,11 @@ class HttpFileStream extends EventEmitter<FileStreamEvents> implements FileStrea
 
   constructor(reader: BrowserHttpReader, offset: number, length: number) {
     super();
-    reader.read(offset, length, this._abortController.signal)
+    reader.read(offset, length, this._abortController.signal, (received, total) => {
+      if (!this._destroyed) {
+        this.emit("progress", received, total);
+      }
+    })
       .then((data) => {
         if (!this._destroyed) {
           this.emit("data", data);
diff --git a/src/infra/workers/CombinedSourceProxy.test.ts b/src/infra/workers/CombinedSourceProxy.test.ts
index 4989d05..eddeedc 100644
--- a/src/infra/workers/CombinedSourceProxy.test.ts
+++ b/src/infra/workers/CombinedSourceProxy.test.ts
@@ -3,7 +3,7 @@ import type { Initialization, MessageEvent } from '@/core/types/ros';
 import type { WorkerSerializedSource } from './WorkerSerializedSource';
 import { CombinedSourceProxy, type CombinedSourceMember } from './CombinedSourceProxy';
 import { CombinedMessageCursor } from './CombinedMessageCursor';
-import type { IMessageCursor } from './types';
+import type { IMessageCursor, SourceInitProgressCallback } from './types';
 
 function makeInit(overrides: Partial<Initialization> = {}): Initialization {
   return {
@@ -75,6 +75,27 @@ describe('CombinedSourceProxy', () => {
     expect(sourceB.initialize).toHaveBeenCalledTimes(1);
   });
 
+  it('aggregates initialize progress from members', async () => {
+    const sourceA = makeMockWorkerSource({
+      initialize: vi.fn(async (_args: Record<string, unknown>, onProgress?: SourceInitProgressCallback) => {
+        onProgress?.({ phase: 'downloading', loadedBytes: 10, totalBytes: 40, transferredBytes: 10 });
+        return makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] });
+      }),
+    });
+    const sourceB = makeMockWorkerSource({
+      initialize: vi.fn(async (_args: Record<string, unknown>, onProgress?: SourceInitProgressCallback) => {
+        onProgress?.({ phase: 'downloading', loadedBytes: 20, totalBytes: 60, transferredBytes: 20 });
+        return makeInit({ topics: [{ name: '/b', type: 'std_msgs/String' }] });
+      }),
+    });
+    const updates: Array<{ loadedBytes: number; totalBytes: number }> = [];
+    const proxy = new CombinedSourceProxy([makeMember('a.mcap', sourceA), makeMember('b.mcap', sourceB)]);
+    await proxy.initialize({}, (progress) => {
+      updates.push({ loadedBytes: progress.loadedBytes, totalBytes: progress.totalBytes });
+    });
+    expect(updates.some((update) => update.loadedBytes === 30 && update.totalBytes === 100)).toBe(true);
+  });
+
   it('excludes a member that fails to initialize, terminates its worker, and records a problem', async () => {
     const sourceA = makeMockWorkerSource({
       initialize: vi.fn(async () => makeInit({ topics: [{ name: '/a', type: 'std_msgs/String' }] })),
diff --git a/src/infra/workers/CombinedSourceProxy.ts b/src/infra/workers/CombinedSourceProxy.ts
index 5c28ebd..aa5d6e3 100644
--- a/src/infra/workers/CombinedSourceProxy.ts
+++ b/src/infra/workers/CombinedSourceProxy.ts
@@ -15,6 +15,8 @@ import type {
   MessageIteratorArgs,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgress,
+  SourceInitProgressCallback,
 } from './types';
 import type { TransportDiagnostics } from './transport';
 import type { WorkerSerializedSource } from './WorkerSerializedSource';
@@ -38,6 +40,22 @@ function errorFromReason(reason: unknown): Error {
   return reason instanceof Error ? reason : new Error(errorMessage(reason));
 }
 
+function aggregateInitProgress(parts: Array<SourceInitProgress | undefined>): SourceInitProgress {
+  const defined = parts.filter((part): part is SourceInitProgress => part != null);
+  if (defined.length === 0) {
+    return { phase: 'connecting', loadedBytes: 0, totalBytes: 0 };
+  }
+  const loadedBytes = defined.reduce((sum, part) => sum + part.loadedBytes, 0);
+  const totalBytes = defined.reduce((sum, part) => sum + part.totalBytes, 0);
+  const transferredBytes = defined.reduce((sum, part) => sum + (part.transferredBytes ?? 0), 0);
+  const phase = defined.some((part) => part.phase === 'downloading')
+    ? 'downloading'
+    : defined.some((part) => part.phase === 'opening')
+      ? 'opening'
+      : 'connecting';
+  return { phase, loadedBytes, totalBytes, transferredBytes };
+}
+
 /**
  * Merges N independent `WorkerSerializedSource` instances (each backed by its
  * own Worker, possibly a different format) into a single `ISourceHandle` that
@@ -57,9 +75,23 @@ export class CombinedSourceProxy implements ISourceHandle {
     this._members = members;
   }
 
-  async initialize(args: Record<string, unknown>): Promise<Initialization> {
+  async initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
+    const memberProgress: Array<SourceInitProgress | undefined> = this._members.map(() => undefined);
     const results = await Promise.allSettled(
-      this._members.map((member) => member.source.initialize({ ...member.initArgs, ...args })),
+      this._members.map((member, memberIndex) =>
+        member.source.initialize(
+          { ...member.initArgs, ...args },
+          onProgress
+            ? (progress) => {
+                memberProgress[memberIndex] = progress;
+                onProgress(aggregateInitProgress(memberProgress));
+              }
+            : undefined,
+        ),
+      ),
     );
 
     const succeededSources: Array<{ label: string; initialization: Initialization }> = [];
diff --git a/src/infra/workers/ISourceHandle.ts b/src/infra/workers/ISourceHandle.ts
index a6c8f15..5bbdf54 100644
--- a/src/infra/workers/ISourceHandle.ts
+++ b/src/infra/workers/ISourceHandle.ts
@@ -5,6 +5,7 @@ import type {
   IMessageCursor,
   LoadProgress,
   MessageIteratorArgs,
+  SourceInitProgressCallback,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
 } from './types';
@@ -25,7 +26,10 @@ export type ResolveHighFrequencyLaneOptions = {
  * file or several.
  */
 export interface ISourceHandle {
-  initialize(args: Record<string, unknown>): Promise<Initialization>;
+  initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization>;
   getMessageCursor(args: MessageIteratorArgs): Promise<IMessageCursor<unknown>>;
   getBackfillMessages(args: GetBackfillMessagesArgs): Promise<MessageEvent[]>;
   getAdjacentMessage(args: GetAdjacentMessageArgs): Promise<MessageEvent | null>;
diff --git a/src/infra/workers/WorkerSerializedSource.test.ts b/src/infra/workers/WorkerSerializedSource.test.ts
index ebdbdea..7e04c8d 100644
--- a/src/infra/workers/WorkerSerializedSource.test.ts
+++ b/src/infra/workers/WorkerSerializedSource.test.ts
@@ -52,6 +52,7 @@ function dispatchWorkerError(message: string): void {
 
 vi.mock('comlink', () => ({
   wrap: vi.fn(() => mockRemote),
+  proxy: vi.fn((value: unknown) => value),
 }));
 
 vi.mock('./transports/createWorkerTransport', () => ({
diff --git a/src/infra/workers/WorkerSerializedSource.ts b/src/infra/workers/WorkerSerializedSource.ts
index 8a2ee03..eb7de2e 100644
--- a/src/infra/workers/WorkerSerializedSource.ts
+++ b/src/infra/workers/WorkerSerializedSource.ts
@@ -9,6 +9,7 @@ import type {
   LoadProgress,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from "./types";
 import type { TransportDiagnostics } from "./transport";
 import { isSharedPayloadRef } from "./transport";
@@ -62,7 +63,10 @@ export class WorkerSerializedSource implements ISourceHandle {
     }
   }
 
-  async initialize(args: Record<string, unknown>): Promise<Initialization> {
+  async initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
     console.debug("WorkerSerializedSource: calling initialize");
     try {
       // Ensure all objects passed to Comlink are plain objects
@@ -84,7 +88,12 @@ export class WorkerSerializedSource implements ISourceHandle {
         this._transportConfigured = true;
       }
       const result = await this._raceWorkerFailure(
-        this._wrapAbortableInitialize(this._remote.initialize(sanitizedArgs)),
+        this._wrapAbortableInitialize(
+          this._remote.initialize(
+            sanitizedArgs,
+            onProgress ? Comlink.proxy(onProgress) : undefined,
+          ),
+        ),
       );
       console.debug("WorkerSerializedSource: initialize result received");
       return result;
diff --git a/src/infra/workers/bag.worker.ts b/src/infra/workers/bag.worker.ts
index 955b528..a1c11c9 100644
--- a/src/infra/workers/bag.worker.ts
+++ b/src/infra/workers/bag.worker.ts
@@ -8,6 +8,7 @@ import type {
   IMessageCursor,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from "./types";
 import { BagIterableSource } from '@/infra/sources/BagIterableSource';
 import { MessageCursor } from "./MessageCursor";
@@ -19,6 +20,7 @@ import type { TransportDiagnostics, WorkerTransportConfig } from "./transport";
 import { SharedPayloadRing } from "./sharedPayloadRing";
 import { resolveRemoteCacheBytes } from './remoteCacheConfig';
 import { DataQualityScanController } from './dataQualityScanController';
+import { trackInitProgress } from './throttledInitProgress';
 import { buildRemoteBagReadable, type SyncSizeBagReadable } from './remoteBagReadable';
 
 class BagWorker implements IWorkerSerializedSourceWorker {
@@ -32,7 +34,12 @@ class BagWorker implements IWorkerSerializedSourceWorker {
   };
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: Record<string, unknown>): Promise<Initialization> {
+  async initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
+    const report = trackInitProgress(onProgress);
+    report({ phase: "connecting", loadedBytes: 0, totalBytes: 0 });
     const url = typeof args.url === 'string' ? args.url : undefined;
     const file = args.file instanceof Blob ? args.file : undefined;
     let sourceArgs:
@@ -53,6 +60,14 @@ class BagWorker implements IWorkerSerializedSourceWorker {
       const readable = new CachedFilelike({
         fileReader,
         cacheSizeInBytes: resolveRemoteCacheBytes(),
+        onDownloadProgress: (info) => {
+          report({
+            phase: "downloading",
+            loadedBytes: info.loadedBytes,
+            totalBytes: info.totalBytes,
+            transferredBytes: info.transferredBytes,
+          });
+        },
       });
       this._cachedReadable = readable;
       const bagReadable = await buildRemoteBagReadable(readable);
@@ -72,6 +87,7 @@ class BagWorker implements IWorkerSerializedSourceWorker {
       );
     }
 
+    report({ phase: "opening" });
     this._source = new BagIterableSource(sourceArgs, { wasmBinary: zstdWasmBinary });
     const init = await this._source.initialize();
     this._initialization = init;
diff --git a/src/infra/workers/bvh.worker.ts b/src/infra/workers/bvh.worker.ts
index 7ae69d8..468ff7f 100644
--- a/src/infra/workers/bvh.worker.ts
+++ b/src/infra/workers/bvh.worker.ts
@@ -9,6 +9,7 @@ import type {
   MessageIteratorArgs,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from "./types";
 import type { TransportDiagnostics, WorkerTransportConfig } from "./transport";
 import { SharedPayloadRing } from "./sharedPayloadRing";
@@ -27,7 +28,11 @@ class BvhWorkerImpl implements IWorkerSerializedSourceWorker {
   private _totalBytes = 0;
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: { url?: string; file?: Blob; autoDataQualityScan?: boolean }): Promise<Initialization> {
+  async initialize(
+    args: { url?: string; file?: Blob; autoDataQualityScan?: boolean },
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
+    onProgress?.({ phase: "connecting", loadedBytes: 0, totalBytes: 0 });
     let text: string;
     if (args.file) {
       this._totalBytes = args.file.size;
@@ -43,6 +48,12 @@ class BvhWorkerImpl implements IWorkerSerializedSourceWorker {
       throw new Error("BvhWorker: neither url nor file provided");
     }
 
+    onProgress?.({
+      phase: "opening",
+      loadedBytes: this._totalBytes,
+      totalBytes: this._totalBytes,
+      transferredBytes: this._totalBytes,
+    });
     this._source = new BvhIterableSource(text, "bvh");
     const init = await this._source.initialize();
     this._initialization = init;
diff --git a/src/infra/workers/db3.worker.ts b/src/infra/workers/db3.worker.ts
index ee93589..0fb496f 100644
--- a/src/infra/workers/db3.worker.ts
+++ b/src/infra/workers/db3.worker.ts
@@ -8,6 +8,7 @@ import type {
   IMessageCursor,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from "./types";
 import { RosDb3IterableSource } from '@/infra/sources/RosDb3IterableSource';
 import { MessageCursor } from "./MessageCursor";
@@ -16,6 +17,7 @@ import type { TransportDiagnostics, WorkerTransportConfig } from "./transport";
 import { SharedPayloadRing } from "./sharedPayloadRing";
 import { DataQualityScanController } from './dataQualityScanController';
 import { resolveWorkerHttpUrl } from '@/shared/utils/resolveWorkerHttpUrl';
+import { trackInitProgress } from './throttledInitProgress';
 
 class Db3Worker implements IWorkerSerializedSourceWorker {
   private _source?: RosDb3IterableSource;
@@ -29,7 +31,11 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
   };
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: Record<string, unknown>): Promise<Initialization> {
+  async initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
+    const report = trackInitProgress(onProgress);
     const sqlWasmBinary = args.sqlWasmBinary instanceof ArrayBuffer ? args.sqlWasmBinary : undefined;
 
     const rawFiles = args.files;
@@ -45,6 +51,12 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
       this._source = new RosDb3IterableSource({ type: "files", files }, { sqlWasmBinary });
       this._totalBytes = files.reduce((sum, f) => sum + f.size, 0);
       this._downloadedBytes = this._totalBytes;
+      report({
+        phase: "opening",
+        loadedBytes: this._downloadedBytes,
+        totalBytes: this._totalBytes,
+        transferredBytes: this._downloadedBytes,
+      });
     } else if (typeof args.url === "string" && args.url.length > 0) {
       // Remote URL: db3/SQLite cannot be range-streamed (random access over the
       // whole database), so download the file in full, then open it in memory.
@@ -52,7 +64,8 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
         typeof args.knownTotalBytes === "number" && Number.isFinite(args.knownTotalBytes)
           ? Math.floor(args.knownTotalBytes)
           : 0;
-      const data = await this._downloadToBytes(resolveWorkerHttpUrl(args.url), knownTotal);
+      report({ phase: "connecting", loadedBytes: 0, totalBytes: knownTotal });
+      const data = await this._downloadToBytes(resolveWorkerHttpUrl(args.url), knownTotal, report);
       this._source = new RosDb3IterableSource({ type: "data", datas: [data] }, { sqlWasmBinary });
       this._totalBytes = data.byteLength;
       this._downloadedBytes = data.byteLength;
@@ -60,6 +73,12 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
       throw new Error("Invalid arguments for Db3Worker: provide url or files");
     }
 
+    report({
+      phase: "opening",
+      loadedBytes: this._downloadedBytes,
+      totalBytes: this._totalBytes,
+      transferredBytes: this._downloadedBytes,
+    });
     const init = await this._source.initialize();
     this._initialization = init;
     this._loaded = true;
@@ -67,7 +86,11 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
     return init;
   }
 
-  private async _downloadToBytes(url: string, knownTotal: number): Promise<Uint8Array> {
+  private async _downloadToBytes(
+    url: string,
+    knownTotal: number,
+    report: (update: { phase: "downloading"; loadedBytes: number; totalBytes: number; transferredBytes: number }) => void,
+  ): Promise<Uint8Array> {
     const resp = await fetch(url);
     if (!resp.ok) {
       throw new Error(`Db3Worker: failed to download db3 (${resp.status} ${resp.statusText})`);
@@ -83,6 +106,12 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
       const buf = new Uint8Array(await resp.arrayBuffer());
       this._totalBytes = buf.byteLength;
       this._downloadedBytes = buf.byteLength;
+      report({
+        phase: "downloading",
+        loadedBytes: buf.byteLength,
+        totalBytes: buf.byteLength,
+        transferredBytes: buf.byteLength,
+      });
       return buf;
     }
 
@@ -96,6 +125,12 @@ class Db3Worker implements IWorkerSerializedSourceWorker {
         chunks.push(value);
         received += value.byteLength;
         this._downloadedBytes = received;
+        report({
+          phase: "downloading",
+          loadedBytes: received,
+          totalBytes: this._totalBytes,
+          transferredBytes: received,
+        });
       }
     }
 
diff --git a/src/infra/workers/hdf5.worker.ts b/src/infra/workers/hdf5.worker.ts
index a0ba3ff..beca4c2 100644
--- a/src/infra/workers/hdf5.worker.ts
+++ b/src/infra/workers/hdf5.worker.ts
@@ -10,6 +10,7 @@ import type {
   MessageIteratorArgs,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from './types';
 import type { TransportDiagnostics, WorkerTransportConfig } from './transport';
 import { SharedPayloadRing } from './sharedPayloadRing';
@@ -30,12 +31,16 @@ class Hdf5WorkerImpl implements IWorkerSerializedSourceWorker {
   };
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: {
-    url?: string;
-    file?: Blob;
-    autoDataQualityScan?: boolean;
-    hdf5WasmBinary?: ArrayBuffer;
-  }): Promise<Initialization> {
+  async initialize(
+    args: {
+      url?: string;
+      file?: Blob;
+      autoDataQualityScan?: boolean;
+      hdf5WasmBinary?: ArrayBuffer;
+    },
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
+    onProgress?.({ phase: 'connecting', loadedBytes: 0, totalBytes: 0 });
     if (!args.hdf5WasmBinary) {
       throw new Error('Hdf5Worker: hdf5WasmBinary required (pass wasm bytes from main thread for inline workers)');
     }
@@ -58,6 +63,7 @@ class Hdf5WorkerImpl implements IWorkerSerializedSourceWorker {
       throw err;
     }
 
+    onProgress?.({ phase: 'opening', loadedBytes: 0, totalBytes: 0 });
     this._source = new Hdf5IterableSource(this._h5file as never, {
       fileName: this._mounted.path,
     });
diff --git a/src/infra/workers/mcap.worker.ts b/src/infra/workers/mcap.worker.ts
index 10fa317..11c42cc 100644
--- a/src/infra/workers/mcap.worker.ts
+++ b/src/infra/workers/mcap.worker.ts
@@ -11,6 +11,7 @@ import type {
   IMessageCursor,
   PlaybackBufferStatus,
   PreparePlaybackBufferArgs,
+  SourceInitProgressCallback,
 } from "./types";
 import { McapIndexedIterableSource } from '@/infra/sources/McapIndexedIterableSource';
 import { loadDecompressHandlers } from '@/infra/sources/decompressHandlers';
@@ -27,6 +28,7 @@ import type { Range } from '@/shared/utils/ranges';
 import { compactTimeRanges, inferProgressTimeRangeCompaction } from '@/shared/utils/timeRanges';
 import { workerPerf } from './workerPerf';
 import { DataQualityScanController } from './dataQualityScanController';
+import { trackInitProgress } from './throttledInitProgress';
 import {
   getPlayableTimeRanges,
   isByteRangeCovered,
@@ -58,16 +60,21 @@ class McapWorkerImpl implements IWorkerSerializedSourceWorker {
   };
   private _qualityScan = new DataQualityScanController();
 
-  async initialize(args: Record<string, unknown>): Promise<Initialization> {
+  async initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization> {
     workerPerf.configure({
       enabled: args.workerPerf === true,
       label: "mcap",
     });
     console.debug("McapWorker: initialize starting", args);
+    const report = trackInitProgress(onProgress);
     try {
       let rawReadable: IReadable;
       const url = typeof args.url === 'string' ? args.url : undefined;
       const file = args.file instanceof Blob ? args.file : undefined;
+      report({ phase: "connecting", loadedBytes: 0, totalBytes: 0 });
       if (url) {
         const knownRaw = args.knownTotalBytes;
         const knownTotalBytes =
@@ -85,6 +92,14 @@ class McapWorkerImpl implements IWorkerSerializedSourceWorker {
           fileReader,
           cacheSizeInBytes: this._remoteCacheBytes,
           preferCacheViews: true,
+          onDownloadProgress: (info) => {
+            report({
+              phase: "downloading",
+              loadedBytes: info.loadedBytes,
+              totalBytes: info.totalBytes,
+              transferredBytes: info.transferredBytes,
+            });
+          },
         });
         this._cachedReadable = cachedReadable;
         rawReadable = {
@@ -131,6 +146,7 @@ class McapWorkerImpl implements IWorkerSerializedSourceWorker {
           decompressHandlers,
         }),
       );
+      report({ phase: "opening" });
       this._source = new McapIndexedIterableSource(reader);
       const init = await workerPerf.timeAsync(
         "initialize.source",
diff --git a/src/infra/workers/throttledInitProgress.ts b/src/infra/workers/throttledInitProgress.ts
new file mode 100644
index 0000000..043dbdf
--- /dev/null
+++ b/src/infra/workers/throttledInitProgress.ts
@@ -0,0 +1,40 @@
+import type { SourceInitPhase, SourceInitProgress, SourceInitProgressCallback } from './types';
+
+const DEFAULT_INTERVAL_MS = 100;
+
+/**
+ * Coalesce high-frequency download ticks so Comlink callbacks do not flood the
+ * main thread. Phase changes always flush immediately.
+ */
+export function createThrottledInitProgress(
+  onProgress: SourceInitProgressCallback | undefined,
+  intervalMs = DEFAULT_INTERVAL_MS,
+): SourceInitProgressCallback | undefined {
+  if (!onProgress) {
+    return undefined;
+  }
+  let lastSentAt = 0;
+  let lastPhase: SourceInitPhase | undefined;
+  return (progress: SourceInitProgress) => {
+    const now = Date.now();
+    const phaseChanged = progress.phase !== lastPhase;
+    if (!phaseChanged && now - lastSentAt < intervalMs) {
+      return;
+    }
+    lastSentAt = now;
+    lastPhase = progress.phase;
+    onProgress(progress);
+  };
+}
+
+/** Remember the last byte counts so phase-only updates keep the current request stats. */
+export function trackInitProgress(
+  onProgress?: SourceInitProgressCallback,
+): (update: Partial<SourceInitProgress> & Pick<SourceInitProgress, 'phase'>) => void {
+  const report = createThrottledInitProgress(onProgress);
+  let last: SourceInitProgress = { phase: 'connecting', loadedBytes: 0, totalBytes: 0 };
+  return (update) => {
+    last = { ...last, ...update };
+    report?.(last);
+  };
+}
diff --git a/src/infra/workers/types.ts b/src/infra/workers/types.ts
index ce6dd42..bd61afd 100644
--- a/src/infra/workers/types.ts
+++ b/src/infra/workers/types.ts
@@ -1,3 +1,4 @@
+import type { SourceInitPhase } from '@/core/types/player';
 import type { DataQualityReport, Initialization, MessageEvent, Time, TimeRange } from '@/core/types/ros';
 import type { TransportDiagnostics, WorkerTransportConfig } from './transport';
 import type { Range } from '@/shared/utils/ranges';
@@ -43,6 +44,20 @@ export interface LoadProgress {
   bufferedAheadMs?: number;
 }
 
+export type { SourceInitPhase };
+
+export interface SourceInitProgress {
+  phase: SourceInitPhase;
+  /** Bytes received in the current HTTP range (or full file for db3). */
+  loadedBytes: number;
+  /** Size of the current request, or file size when known. */
+  totalBytes: number;
+  /** Session-cumulative HTTP bytes (monotonic). */
+  transferredBytes?: number;
+}
+
+export type SourceInitProgressCallback = (progress: SourceInitProgress) => void;
+
 /** `T` is the deserialized message payload carried in {@link MessageEvent.message}. */
 export interface IMessageCursor<T = unknown> {
   next(): Promise<IteratorResult<MessageEvent<T>>>;
@@ -54,7 +69,10 @@ export interface IMessageCursor<T = unknown> {
 }
 
 export interface IWorkerSerializedSourceWorker {
-  initialize(args: Record<string, unknown>): Promise<Initialization>;
+  initialize(
+    args: Record<string, unknown>,
+    onProgress?: SourceInitProgressCallback,
+  ): Promise<Initialization>;
   configureTransport(config: WorkerTransportConfig): Promise<void>;
   startDataQualityScan(): Promise<void>;
   getMessageCursor(args: MessageIteratorArgs): Promise<IMessageCursor<unknown>>;
diff --git a/src/shared/intl/messages/en/welcome.json b/src/shared/intl/messages/en/welcome.json
index 13d8846..e312f4d 100644
--- a/src/shared/intl/messages/en/welcome.json
+++ b/src/shared/intl/messages/en/welcome.json
@@ -50,8 +50,12 @@
   "welcome.openDirectory": "Choose folder",
   "welcome.fileTypes": "mcap · bag · db3 · hdf5 · bvh",
   "welcome.directoryHint": "All matching files in folder",
-  "welcome.loadingTitle": "Opening…",
+  "welcome.loadingTitle": "Loading",
   "welcome.loadingPhase.preparing": "Preparing…",
+  "welcome.loadingSpeed": "{speed}/s",
+  "welcome.loadingEtaSeconds": "about {n}s",
+  "welcome.loadingEtaMinutes": "about {n} min",
+  "welcome.loadingEtaHours": "about {n} hr",
   "welcome.cancelLoading": "Cancel",
   "welcome.manualOpenFileHint": "Please manually open the {name} file.",
   "welcome.manualOpenFolderHint": "Please manually open the {name} folder."
diff --git a/src/shared/intl/messages/ja/welcome.json b/src/shared/intl/messages/ja/welcome.json
index 55348f5..191153e 100644
--- a/src/shared/intl/messages/ja/welcome.json
+++ b/src/shared/intl/messages/ja/welcome.json
@@ -50,8 +50,12 @@
   "welcome.openDirectory": "フォルダを選ぶ",
   "welcome.fileTypes": "mcap · bag · db3 · hdf5 · bvh",
   "welcome.directoryHint": "フォルダ内の該当ファイルすべて",
-  "welcome.loadingTitle": "開いています…",
+  "welcome.loadingTitle": "読み込み中",
   "welcome.loadingPhase.preparing": "準備中…",
+  "welcome.loadingSpeed": "{speed}/s",
+  "welcome.loadingEtaSeconds": "約 {n} 秒",
+  "welcome.loadingEtaMinutes": "約 {n} 分",
+  "welcome.loadingEtaHours": "約 {n} 時間",
   "welcome.cancelLoading": "キャンセル",
   "welcome.manualOpenFileHint": "{name} ファイルを手動で開いてください。",
   "welcome.manualOpenFolderHint": "{name} フォルダを手動で開いてください。"
diff --git a/src/shared/intl/messages/zh/welcome.json b/src/shared/intl/messages/zh/welcome.json
index ba208f3..2e3d42e 100644
--- a/src/shared/intl/messages/zh/welcome.json
+++ b/src/shared/intl/messages/zh/welcome.json
@@ -50,8 +50,12 @@
   "welcome.openDirectory": "选择文件夹",
   "welcome.fileTypes": "mcap · bag · db3 · hdf5 · bvh",
   "welcome.directoryHint": "导入文件夹内全部匹配文件",
-  "welcome.loadingTitle": "正在打开…",
+  "welcome.loadingTitle": "加载中",
   "welcome.loadingPhase.preparing": "准备中…",
+  "welcome.loadingSpeed": "{speed}/s",
+  "welcome.loadingEtaSeconds": "约 {n} 秒",
+  "welcome.loadingEtaMinutes": "约 {n} 分钟",
+  "welcome.loadingEtaHours": "约 {n} 小时",
   "welcome.cancelLoading": "取消",
   "welcome.manualOpenFileHint": "请手动打开 {name} 文件。",
   "welcome.manualOpenFolderHint": "请手动打开 {name} 文件夹。"
diff --git a/src/shared/utils/formatEta.test.ts b/src/shared/utils/formatEta.test.ts
new file mode 100644
index 0000000..01ea092
--- /dev/null
+++ b/src/shared/utils/formatEta.test.ts
@@ -0,0 +1,16 @@
+import { describe, expect, it } from 'vitest';
+import { estimateEtaSeconds, formatEtaParts } from './formatEta';
+
+describe('formatEta', () => {
+  it('estimates remaining seconds from throughput', () => {
+    expect(estimateEtaSeconds(20_000_000, 2_000_000)).toBe(10);
+    expect(estimateEtaSeconds(0, 2_000_000)).toBeUndefined();
+    expect(estimateEtaSeconds(10, 0)).toBeUndefined();
+  });
+
+  it('buckets durations into seconds, minutes, and hours', () => {
+    expect(formatEtaParts(20)).toEqual({ unit: 'seconds', n: 20 });
+    expect(formatEtaParts(90)).toEqual({ unit: 'minutes', n: 2 });
+    expect(formatEtaParts(7200)).toEqual({ unit: 'hours', n: 2 });
+  });
+});
diff --git a/src/shared/utils/formatEta.ts b/src/shared/utils/formatEta.ts
new file mode 100644
index 0000000..ec5d6d4
--- /dev/null
+++ b/src/shared/utils/formatEta.ts
@@ -0,0 +1,19 @@
+export type EtaUnit = 'seconds' | 'minutes' | 'hours';
+
+export function estimateEtaSeconds(remainingBytes: number, bytesPerSecond: number): number | undefined {
+  if (!(bytesPerSecond > 0) || !(remainingBytes > 0) || !Number.isFinite(remainingBytes)) {
+    return undefined;
+  }
+  const seconds = remainingBytes / bytesPerSecond;
+  return Number.isFinite(seconds) ? seconds : undefined;
+}
+
+export function formatEtaParts(seconds: number): { unit: EtaUnit; n: number } {
+  if (seconds < 60) {
+    return { unit: 'seconds', n: Math.max(1, Math.round(seconds)) };
+  }
+  if (seconds < 3600) {
+    return { unit: 'minutes', n: Math.max(1, Math.round(seconds / 60)) };
+  }
+  return { unit: 'hours', n: Math.max(1, Math.round(seconds / 3600)) };
+}
diff --git a/src/shared/utils/sourceDisplayName.test.ts b/src/shared/utils/sourceDisplayName.test.ts
new file mode 100644
index 0000000..d2bebf1
--- /dev/null
+++ b/src/shared/utils/sourceDisplayName.test.ts
@@ -0,0 +1,17 @@
+import { describe, expect, it } from 'vitest';
+import { sourceDisplayName } from './sourceDisplayName';
+
+describe('sourceDisplayName', () => {
+  it('returns the URL basename and ignores query strings', () => {
+    expect(
+      sourceDisplayName(
+        'https://cdn.example.com/bags/RealMan_PicknPlace.mcap?sign=abc',
+      ),
+    ).toBe('RealMan_PicknPlace.mcap');
+  });
+
+  it('returns the local filename as-is', () => {
+    expect(sourceDisplayName('run.mcap')).toBe('run.mcap');
+    expect(sourceDisplayName('/tmp/data/run.bag')).toBe('run.bag');
+  });
+});
diff --git a/src/shared/utils/sourceDisplayName.ts b/src/shared/utils/sourceDisplayName.ts
new file mode 100644
index 0000000..d3b7fa1
--- /dev/null
+++ b/src/shared/utils/sourceDisplayName.ts
@@ -0,0 +1,18 @@
+/** Basename for a URL or local filename, used in the loading overlay and navbar. */
+export function sourceDisplayName(sourceName?: string): string | undefined {
+  if (!sourceName) {
+    return undefined;
+  }
+  const trimmed = sourceName.trim();
+  if (!trimmed) {
+    return undefined;
+  }
+  try {
+    const url = new URL(trimmed);
+    const base = url.pathname.split('/').filter(Boolean).pop();
+    return base ? decodeURIComponent(base) : trimmed;
+  } catch {
+    const slash = Math.max(trimmed.lastIndexOf('/'), trimmed.lastIndexOf('\\'));
+    return slash >= 0 ? trimmed.slice(slash + 1) : trimmed;
+  }
+}
diff --git a/vite.config.ts b/vite.config.ts
index 5b24076..65546d0 100644
--- a/vite.config.ts
+++ b/vite.config.ts
@@ -28,10 +28,10 @@ export default defineConfig({
   plugins: [react()],
   resolve: {
     alias: {
-      '@': path.resolve(__dirname, './src'),
+      '@': path.resolve(import.meta.dirname, './src'),
       // protobufjs probes require('fs') at load; silent null avoids Vite's noisy external stub.
       // Keep `node:fs` unaliased so Vitest/Node fixtures can still use the real module.
-      fs: path.resolve(__dirname, './src/shims/empty-fs.js'),
+      fs: path.resolve(import.meta.dirname, './src/shims/empty-fs.js'),
     },
   },
   // Native Vite asset URLs (`*.wasm?url`); no vite-plugin-wasm (ESM wasm import path unused).