diff --git a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/control-scheme-view-io-list.component.ts b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/control-scheme-view-io-list.component.ts
index e18075b9..77fc0d23 100644
--- a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/control-scheme-view-io-list.component.ts
+++ b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/control-scheme-view-io-list.component.ts
@@ -55,7 +55,11 @@ export class ControlSchemeViewIoListComponent {
         this.treeControl.dataNodes = this.dataSource.data;
         if (!this.initialExpansionDone) {
             this.initialExpansionDone = true;
-            this.treeControl.expandAll();
+            this.treeControl.dataNodes
+                .filter((node) => node.initiallyExpanded)
+                .forEach((node) => {
+                    this.treeControl.expand(node);
+                });
         }
     }
 
diff --git a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.html b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.html
index c8040f50..74b08ca8 100644
--- a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.html
+++ b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.html
@@ -3,6 +3,17 @@
                         [ioType]="node.ioType"
                         [isConnected]="node.isConnected"
     ></app-io-inline-view>
+
+    <ng-container *ngIf="node.runningTask">
+        <mat-icon [fontIcon]="'sync'"></mat-icon>
+        {{ node.runningTask | portCommandTaskSummary | ngrxPush }}
+    </ng-container>
+    
+    <ng-container *ngIf="node.lastExecutedTask && !node.runningTask">
+        <mat-icon [fontIcon]="'check_circle'"></mat-icon>
+        {{ node.lastExecutedTask | portCommandTaskSummary | ngrxPush }}
+    </ng-container>
+
     <a *ngIf="node.useAccelerationProfile || node.useDecelerationProfile"
        class="mat-mdc-button port-config"
        [routerLink]="portConfigRoute"
diff --git a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.ts b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.ts
index 80648d02..b0101380 100644
--- a/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.ts
+++ b/src/app/control-schemes/control-scheme-page/control-scheme-view-io-list/io-tree-node/io-tree-node.component.ts
@@ -3,10 +3,12 @@ import { NgIf } from '@angular/common';
 import { MatIconModule } from '@angular/material/icon';
 import { TranslocoModule } from '@ngneat/transloco';
 import { RouterLink } from '@angular/router';
+import { PushPipe } from '@ngrx/component';
 import { IoInlineViewComponent } from '@app/shared';
 
 import { ControlSchemeViewIoTreeNode } from '../../types';
 import { RoutesBuilderService } from '../../../../routing';
+import { PortCommandTaskSummaryPipe } from '../../../port-command-task-summary';
 
 @Component({
     standalone: true,
@@ -18,7 +20,9 @@ import { RoutesBuilderService } from '../../../../routing';
         IoInlineViewComponent,
         MatIconModule,
         TranslocoModule,
-        RouterLink
+        RouterLink,
+        PortCommandTaskSummaryPipe,
+        PushPipe
     ],
     changeDetection: ChangeDetectionStrategy.OnPush
 })
diff --git a/src/app/control-schemes/control-scheme-page/control-scheme-view.selectors.ts b/src/app/control-schemes/control-scheme-page/control-scheme-view.selectors.ts
index 3ec42df3..9d3649ce 100644
--- a/src/app/control-schemes/control-scheme-page/control-scheme-view.selectors.ts
+++ b/src/app/control-schemes/control-scheme-page/control-scheme-view.selectors.ts
@@ -20,10 +20,12 @@ import {
     HubModel,
     HubStatsModel,
     PORT_TASKS_SELECTORS,
+    PortTasksModel,
     ROUTER_SELECTORS,
     attachedIoModesIdFn,
     attachedIoPortModeInfoIdFn,
-    attachedIosIdFn
+    attachedIosIdFn,
+    hubPortTasksIdFn
 } from '@app/store';
 
 import { ioHasMatchingModeForOpMode } from '../io-has-matching-mode-for-op-mode';
@@ -44,7 +46,8 @@ function createHubTreeNode(
         hasCommunication: hubStats?.hasCommunication ?? false,
         nodeType: ControlSchemeNodeTypes.Hub,
         isConnected: !!hubStats,
-        children: []
+        children: [],
+        initiallyExpanded: true
     };
 }
 
@@ -57,6 +60,7 @@ function createIoTreeNode(
     bindings: ControlSchemeBinding[],
     portConfigs: ControlSchemePortConfig[],
     controlSchemeId: string,
+    portTasksModelDictionary: Dictionary<PortTasksModel>
 ): ControlSchemeViewIoTreeNode {
     const ioId = attachedIosIdFn({ hubId: hubConfig.hubId, portId });
     const io = iosEntities[ioId];
@@ -66,6 +70,9 @@ function createIoTreeNode(
     const useDecelerationProfile = bindings.filter((b) => b.useDecelerationProfile && b.portId === portId && b.hubId === hubConfig.hubId)
         .length > 0;
 
+    const runningTask = portTasksModelDictionary[hubPortTasksIdFn({ hubId: hubConfig.hubId, portId })]?.runningTask ?? undefined;
+    const lastExecutedTask = portTasksModelDictionary[hubPortTasksIdFn({ hubId: hubConfig.hubId, portId })]?.lastExecutedTask ?? undefined;
+
     return {
         path: `${parentPath}.${portId}`,
         nodeType: ControlSchemeNodeTypes.Io,
@@ -78,7 +85,10 @@ function createIoTreeNode(
         accelerationTimeMs: portConfig?.accelerationTimeMs ?? 0,
         useDecelerationProfile,
         decelerationTimeMs: portConfig?.decelerationTimeMs ?? 0,
-        children: []
+        runningTask,
+        lastExecutedTask,
+        children: [],
+        initiallyExpanded: false
     };
 }
 
@@ -100,7 +110,8 @@ function createBindingTreeNode(
         binding,
         controlSchemeId,
         ioHasNoRequiredCapabilities,
-        children: []
+        children: [],
+        initiallyExpanded: false
     };
 }
 
@@ -113,6 +124,7 @@ export const CONTROL_SCHEME_VIEW_SELECTORS = {
         ATTACHED_IO_MODES_SELECTORS.selectEntities,
         ATTACHED_IO_PORT_MODE_INFO_SELECTORS.selectEntities,
         PORT_TASKS_SELECTORS.selectLastExecutedBindingIds,
+        PORT_TASKS_SELECTORS.selectEntities,
         (
             scheme: ControlSchemeModel | undefined,
             hubEntities: Dictionary<HubModel>,
@@ -120,7 +132,8 @@ export const CONTROL_SCHEME_VIEW_SELECTORS = {
             iosEntities: Dictionary<AttachedIoModel>,
             ioSupportedModesEntities: Dictionary<AttachedIoModesModel>,
             portModeInfoEntities: Dictionary<AttachedIoPortModeInfoModel>,
-            lastExecutedTasksBindingIds: ReadonlySet<string>
+            lastExecutedTasksBindingIds: ReadonlySet<string>,
+            portCommandTasksEntities: Dictionary<PortTasksModel>,
         ): ControlSchemeViewHubTreeNode[] => {
             if (!scheme) {
                 return [];
@@ -178,7 +191,8 @@ export const CONTROL_SCHEME_VIEW_SELECTORS = {
                         binding.portId,
                         scheme.bindings,
                         scheme.portConfigs,
-                        schemeId
+                        schemeId,
+                        portCommandTasksEntities
                     );
                     hubIosViewMap.set(ioId, ioViewModel);
 
diff --git a/src/app/control-schemes/control-scheme-page/types.ts b/src/app/control-schemes/control-scheme-page/types.ts
index fc3fcbc3..a308d7a0 100644
--- a/src/app/control-schemes/control-scheme-page/types.ts
+++ b/src/app/control-schemes/control-scheme-page/types.ts
@@ -1,5 +1,5 @@
 import { HubType, IOType } from '@nvsukhanov/rxpoweredup';
-import { ControlSchemeBinding } from '@app/store';
+import { ControlSchemeBinding, PortCommandTask } from '@app/store';
 
 export enum ControlSchemeNodeTypes {
     Hub = 'Hub',
@@ -15,6 +15,7 @@ export type ControlSchemeViewBindingTreeNodeData = {
     readonly binding: ControlSchemeBinding;
     readonly ioHasNoRequiredCapabilities: boolean;
     readonly children: [];
+    readonly initiallyExpanded: boolean;
 };
 
 export type ControlSchemeViewIoTreeNode = {
@@ -29,7 +30,10 @@ export type ControlSchemeViewIoTreeNode = {
     readonly accelerationTimeMs: number;
     readonly useDecelerationProfile: boolean;
     readonly decelerationTimeMs: number;
+    readonly runningTask?: PortCommandTask;
+    readonly lastExecutedTask?: PortCommandTask;
     readonly children: ControlSchemeViewBindingTreeNodeData[];
+    readonly initiallyExpanded: boolean;
 };
 
 export type ControlSchemeViewHubTreeNode = {
@@ -44,6 +48,7 @@ export type ControlSchemeViewHubTreeNode = {
     readonly hasCommunication: boolean;  // TODO: remove, may impact performance, Use ad-hoc selector instead
     readonly isConnected: boolean;
     readonly children: ControlSchemeViewIoTreeNode[];
+    readonly initiallyExpanded: boolean;
 };
 
 export type ControlSchemeViewTreeNode = ControlSchemeViewHubTreeNode
diff --git a/src/app/control-schemes/port-command-task-summary/index.ts b/src/app/control-schemes/port-command-task-summary/index.ts
new file mode 100644
index 00000000..0e8978aa
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/index.ts
@@ -0,0 +1 @@
+export * from './port-command-task-summary.pipe';
diff --git a/src/app/control-schemes/port-command-task-summary/linear-port-command-task-summary-builder.service.ts b/src/app/control-schemes/port-command-task-summary/linear-port-command-task-summary-builder.service.ts
new file mode 100644
index 00000000..7b871e18
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/linear-port-command-task-summary-builder.service.ts
@@ -0,0 +1,21 @@
+import { Injectable } from '@angular/core';
+import { Observable } from 'rxjs';
+import { TranslocoService } from '@ngneat/transloco';
+import { SetLinearSpeedTaskPayload } from '@app/store';
+
+@Injectable({ providedIn: 'root' })
+export class LinearPortCommandTaskSummaryBuilderService {
+    constructor(
+        private readonly translocoService: TranslocoService
+    ) {
+    }
+
+    public build(
+        payload: SetLinearSpeedTaskPayload
+    ): Observable<string> {
+        if (payload.power !== 0 && payload.speed === 0) {
+            return this.translocoService.selectTranslate('controlScheme.linearBrakeTaskSummary');
+        }
+        return this.translocoService.selectTranslate('controlScheme.linearTaskSummary', payload);
+    }
+}
diff --git a/src/app/control-schemes/port-command-task-summary/port-command-task-summary.pipe.ts b/src/app/control-schemes/port-command-task-summary/port-command-task-summary.pipe.ts
new file mode 100644
index 00000000..cac262d4
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/port-command-task-summary.pipe.ts
@@ -0,0 +1,53 @@
+import { Pipe, PipeTransform } from '@angular/core';
+import { Observable, filter, switchMap } from 'rxjs';
+import { Store } from '@ngrx/store';
+import { ATTACHED_IO_PROPS_SELECTORS, AttachedIoPropsModel, PortCommandTask, PortCommandTaskType } from '@app/store';
+
+import { LinearPortCommandTaskSummaryBuilderService } from './linear-port-command-task-summary-builder.service';
+import { ServoPortCommandTaskSummaryBuilderService } from './servo-port-command-task-summary-builder.service';
+import { SetAnglePortCommandTaskSummaryBuilderService } from './set-angle-port-command-task-summary-builder.service';
+import { StepperPortCommandTaskSummaryBuilderService } from './stepper-port-command-task-summary-builder.service';
+
+@Pipe({
+    standalone: true,
+    name: 'portCommandTaskSummary',
+    pure: true
+})
+export class PortCommandTaskSummaryPipe implements PipeTransform {
+    constructor(
+        private readonly linearPortCommandTaskSummaryBuilder: LinearPortCommandTaskSummaryBuilderService,
+        private readonly setAnglePortCommandTaskSummaryBuilder: SetAnglePortCommandTaskSummaryBuilderService,
+        private readonly servoPortCommandTaskSummaryBuilder: ServoPortCommandTaskSummaryBuilderService,
+        private readonly stepperPortCommandTaskSummaryBuilder: StepperPortCommandTaskSummaryBuilderService,
+        private readonly store: Store
+    ) {
+    }
+
+    public transform(
+        portCommandTask: PortCommandTask
+    ): Observable<string> {
+        const payload = portCommandTask.payload;
+        switch (payload.taskType) {
+            case PortCommandTaskType.SetSpeed:
+                return this.linearPortCommandTaskSummaryBuilder.build(payload);
+            case PortCommandTaskType.SetAngle:
+                return this.store.select(ATTACHED_IO_PROPS_SELECTORS.selectById(portCommandTask)).pipe(
+                    filter((ioProps): ioProps is AttachedIoPropsModel => !!ioProps),
+                    switchMap((ioProps) => this.setAnglePortCommandTaskSummaryBuilder.build(
+                        ioProps,
+                        payload
+                    ))
+                );
+            case PortCommandTaskType.Servo:
+                return this.store.select(ATTACHED_IO_PROPS_SELECTORS.selectById(portCommandTask)).pipe(
+                    filter((ioProps): ioProps is AttachedIoPropsModel => !!ioProps),
+                    switchMap((ioProps) => this.servoPortCommandTaskSummaryBuilder.build(
+                        ioProps,
+                        payload
+                    ))
+                );
+            case PortCommandTaskType.Stepper:
+                return this.stepperPortCommandTaskSummaryBuilder.build(payload);
+        }
+    }
+}
diff --git a/src/app/control-schemes/port-command-task-summary/servo-port-command-task-summary-builder.service.ts b/src/app/control-schemes/port-command-task-summary/servo-port-command-task-summary-builder.service.ts
new file mode 100644
index 00000000..2aeccc91
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/servo-port-command-task-summary-builder.service.ts
@@ -0,0 +1,20 @@
+import { Injectable } from '@angular/core';
+import { Observable } from 'rxjs';
+import { TranslocoService } from '@ngneat/transloco';
+import { AttachedIoPropsModel, ServoTaskPayload } from '@app/store';
+
+@Injectable({ providedIn: 'root' })
+export class ServoPortCommandTaskSummaryBuilderService {
+    constructor(
+        private readonly translocoService: TranslocoService
+    ) {
+    }
+
+    public build(
+        attachedIoProps: AttachedIoPropsModel,
+        payload: ServoTaskPayload
+    ): Observable<string> {
+        const angle = (attachedIoProps.motorEncoderOffset ?? 0) + payload.angle;
+        return this.translocoService.selectTranslate('controlScheme.servoTaskSummary', { angle });
+    }
+}
diff --git a/src/app/control-schemes/port-command-task-summary/set-angle-port-command-task-summary-builder.service.ts b/src/app/control-schemes/port-command-task-summary/set-angle-port-command-task-summary-builder.service.ts
new file mode 100644
index 00000000..b5cee322
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/set-angle-port-command-task-summary-builder.service.ts
@@ -0,0 +1,20 @@
+import { Injectable } from '@angular/core';
+import { Observable } from 'rxjs';
+import { TranslocoService } from '@ngneat/transloco';
+import { AttachedIoPropsModel, SetAngleTaskPayload } from '@app/store';
+
+@Injectable({ providedIn: 'root' })
+export class SetAnglePortCommandTaskSummaryBuilderService {
+    constructor(
+        private readonly translocoService: TranslocoService
+    ) {
+    }
+
+    public build(
+        attachedIoProps: AttachedIoPropsModel,
+        payload: SetAngleTaskPayload
+    ): Observable<string> {
+        const angle = (attachedIoProps.motorEncoderOffset ?? 0) + payload.angle;
+        return this.translocoService.selectTranslate('controlScheme.setAngleTaskSummary', { angle });
+    }
+}
diff --git a/src/app/control-schemes/port-command-task-summary/stepper-port-command-task-summary-builder.service.ts b/src/app/control-schemes/port-command-task-summary/stepper-port-command-task-summary-builder.service.ts
new file mode 100644
index 00000000..12a6cf80
--- /dev/null
+++ b/src/app/control-schemes/port-command-task-summary/stepper-port-command-task-summary-builder.service.ts
@@ -0,0 +1,18 @@
+import { Injectable } from '@angular/core';
+import { Observable } from 'rxjs';
+import { TranslocoService } from '@ngneat/transloco';
+import { StepperTaskPayload } from '@app/store';
+
+@Injectable({ providedIn: 'root' })
+export class StepperPortCommandTaskSummaryBuilderService {
+    constructor(
+        private readonly translocoService: TranslocoService
+    ) {
+    }
+
+    public build(
+        payload: StepperTaskPayload
+    ): Observable<string> {
+        return this.translocoService.selectTranslate('controlScheme.stepperTaskSummary', payload);
+    }
+}
diff --git a/src/app/store/selectors/attached-io-props.selectors.ts b/src/app/store/selectors/attached-io-props.selectors.ts
index d2a0f428..5339558d 100644
--- a/src/app/store/selectors/attached-io-props.selectors.ts
+++ b/src/app/store/selectors/attached-io-props.selectors.ts
@@ -7,6 +7,12 @@ export const ATTACHED_IO_PROPS_SELECTORS = {
         ATTACHED_IO_PROPS_FEATURE.selectAttachedIoPropsState,
         ATTACHED_IO_PROPS_ENTITY_ADAPTER.getSelectors().selectEntities,
     ),
+    selectById: (
+        q: { hubId: string; portId: number }
+    ) => createSelector(
+        ATTACHED_IO_PROPS_SELECTORS.selectEntities,
+        (entities) => entities[hubAttachedIoPropsIdFn(q)]
+    ),
     selectMotorEncoderOffset: (
         q: { hubId: string; portId: number }
     ) => createSelector(
diff --git a/src/assets/i18n/en.json b/src/assets/i18n/en.json
index 7ddbf6f1..6b58163a 100644
--- a/src/assets/i18n/en.json
+++ b/src/assets/i18n/en.json
@@ -111,19 +111,24 @@
     "runningDetailsTotalTasksExecuted": "Total tasks executed:",
     "runningDetailsLastTenTasksAverageExecutionTime": "Last 10 tasks average execution time (ms):",
     "setAngleInput": "Set angle",
-    "setAngleOutputConfigurationAngle": "Target angle",
+    "setAngleOutputConfigurationAngle": "Target angle (°)",
+    "setAngleTaskSummary": "Set angle: { angle }°",
     "linearInputSpeed": "Speed",
     "linearInputBrake": "Brake",
     "linearOutputConfigurationTreatAsSwitch": "Treat button as a switch",
+    "linearTaskSummary": "Speed: { speed }",
+    "linearBrakeTaskSummary": "Brake",
     "servoInput": "Servo control",
     "servoOutputConfigurationCalibrate": "Calibrate",
-    "servoOutputConfigurationCenterOffset": "Center offset (deg)",
-    "servoOutputConfigurationAngleRange": "Servo range (deg)",
+    "servoOutputConfigurationCenterOffset": "Center offset (°)",
+    "servoOutputConfigurationAngleRange": "Servo range (°)",
     "servoCalibrationIsInProgress": "Servo calibration is in progress",
     "servoCalibrationError": "An error occurred during servo calibration",
     "servoCalibrationCancel": "Cancel",
+    "servoTaskSummary": "Servo: { angle }°",
     "stepperInput": "Make step",
-    "stepperOutputConfigurationDegree": "Angle (deg)",
+    "stepperOutputConfigurationDegree": "Angle (°)",
+    "stepperTaskSummary": "Step: { degree }°",
     "outputSpeedControlTitle": "Speed",
     "outputPowerControlTitle": "Power",
     "outputInvertControlTitle": "Invert",