diff --git a/src/control_backend/agents/bdi/bdi_program_manager.py b/src/control_backend/agents/bdi/bdi_program_manager.py
index 092a2c6..25b7364 100644
--- a/src/control_backend/agents/bdi/bdi_program_manager.py
+++ b/src/control_backend/agents/bdi/bdi_program_manager.py
@@ -42,6 +42,16 @@ class BDIProgramManager(BaseAgent):
     def _initialize_internal_state(self, program: Program):
         self._program = program
         self._phase = program.phases[0]  # start in first phase
+        self._goal_mapping: dict[str, Goal] = {}
+        for phase in program.phases:
+            for goal in phase.goals:
+                self._populate_goal_mapping_with_goal(goal)
+
+    def _populate_goal_mapping_with_goal(self, goal: Goal):
+        self._goal_mapping[str(goal.id)] = goal
+        for step in goal.plan.steps:
+            if isinstance(step, Goal):
+                self._populate_goal_mapping_with_goal(step)
 
     async def _create_agentspeak_and_send_to_bdi(self, program: Program):
         """
@@ -73,6 +83,9 @@ class BDIProgramManager(BaseAgent):
                 phases = json.loads(msg.body)
 
                 await self._transition_phase(phases["old"], phases["new"])
+            case "achieve_goal":
+                goal_id = msg.body
+                await self._send_achieved_goal_to_semantic_belief_extractor(goal_id)
 
     async def _transition_phase(self, old: str, new: str):
         if old != str(self._phase.id):
@@ -138,6 +151,19 @@ class BDIProgramManager(BaseAgent):
 
         await self.send(message)
 
+    @staticmethod
+    def _extract_goals_from_goal(goal: Goal) -> list[Goal]:
+        """
+        Extract all goals from a given goal, that is: the goal itself and any subgoals.
+
+        :return: All goals within and including the given goal.
+        """
+        goals: list[Goal] = [goal]
+        for plan in goal.plan:
+            if isinstance(plan, Goal):
+                goals.extend(BDIProgramManager._extract_goals_from_goal(plan))
+        return goals
+
     def _extract_current_goals(self) -> list[Goal]:
         """
         Extract all goals from the program, including subgoals.
@@ -146,15 +172,8 @@ class BDIProgramManager(BaseAgent):
         """
         goals: list[Goal] = []
 
-        def extract_goals_from_goal(goal_: Goal) -> list[Goal]:
-            goals_: list[Goal] = [goal]
-            for plan in goal_.plan:
-                if isinstance(plan, Goal):
-                    goals_.extend(extract_goals_from_goal(plan))
-            return goals_
-
         for goal in self._phase.goals:
-            goals.extend(extract_goals_from_goal(goal))
+            goals.extend(self._extract_goals_from_goal(goal))
 
         return goals
 
@@ -173,6 +192,25 @@ class BDIProgramManager(BaseAgent):
 
         await self.send(message)
 
+    async def _send_achieved_goal_to_semantic_belief_extractor(self, achieved_goal_id: str):
+        """
+        Inform the semantic belief extractor when a goal is marked achieved.
+
+        :param achieved_goal_id: The id of the achieved goal.
+        """
+        goal = self._goal_mapping.get(achieved_goal_id)
+        if goal is None:
+            self.logger.debug(f"Goal with ID {achieved_goal_id} marked achieved but was not found.")
+            return
+
+        goals = self._extract_goals_from_goal(goal)
+        message = InternalMessage(
+            to=settings.agent_settings.text_belief_extractor_name,
+            body=GoalList(goals=goals).model_dump_json(),
+            thread="achieved_goals",
+        )
+        await self.send(message)
+
     async def _send_clear_llm_history(self):
         """
         Clear the LLM Agent's conversation history.
diff --git a/src/control_backend/agents/user_interrupt/user_interrupt_agent.py b/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
index 108e821..d994121 100644
--- a/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
+++ b/src/control_backend/agents/user_interrupt/user_interrupt_agent.py
@@ -7,6 +7,7 @@ from control_backend.agents import BaseAgent
 from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
 from control_backend.core.agent_system import InternalMessage
 from control_backend.core.config import settings
+from control_backend.schemas.belief_message import Belief, BeliefMessage
 from control_backend.schemas.program import ConditionalNorm, Program
 from control_backend.schemas.ri_message import (
     GestureCommand,
@@ -31,7 +32,7 @@ class UserInterruptAgent(BaseAgent):
     Prioritized actions clear the current RI queue before inserting the new item,
     ensuring they are executed immediately after Pepper's current action has been fulfilled.
 
-    :ivar sub_socket: The ZMQ SUB socket used to receive user intterupts.
+    :ivar sub_socket: The ZMQ SUB socket used to receive user interrupts.
     """
 
     def __init__(self, **kwargs):
@@ -118,8 +119,23 @@ class UserInterruptAgent(BaseAgent):
                         "Forwarded button press (override) with context '%s' to BDIProgramManager.",
                         event_context,
                     )
+                elif asl_goal := self._goal_map.get(ui_id):
+                    await self._send_to_bdi_belief(asl_goal)
+                    self.logger.info(
+                        "Forwarded button press (override) with context '%s' to BDI Core.",
+                        event_context,
+                    )
+
+                    goal_achieve_msg = InternalMessage(
+                        to=settings.agent_settings.bdi_program_manager_name,
+                        thread="achieve_goal",
+                        body=ui_id,
+                    )
+
+                    await self.send(goal_achieve_msg)
                 else:
                     self.logger.warning("Could not determine which element to override.")
+
             elif event_type == "pause":
                 self.logger.debug(
                     "Received pause/resume button press with context '%s'.", event_context
@@ -291,6 +307,19 @@ class UserInterruptAgent(BaseAgent):
         await self.send(msg)
         self.logger.info(f"Directly forced {thread} in BDI: {body}")
 
+    async def _send_to_bdi_belief(self, asl_goal: str):
+        """Send belief to BDI Core"""
+        belief_name = f"achieved_{asl_goal}"
+        belief = Belief(name=belief_name)
+        self.logger.debug(f"Sending belief to BDI Core: {belief_name}")
+        belief_message = BeliefMessage(create=[belief])
+        msg = InternalMessage(
+            to=settings.agent_settings.bdi_core_name,
+            thread="beliefs",
+            body=belief_message.model_dump_json(),
+        )
+        await self.send(msg)
+
     async def _send_experiment_control_to_bdi_core(self, type):
         """
         method to send experiment control buttons to bdi core.
diff --git a/src/control_backend/api/v1/endpoints/robot.py b/src/control_backend/api/v1/endpoints/robot.py
index afbf1ac..95a9c40 100644
--- a/src/control_backend/api/v1/endpoints/robot.py
+++ b/src/control_backend/api/v1/endpoints/robot.py
@@ -137,7 +137,6 @@ async def ping_stream(request: Request):
                 logger.info("Client disconnected from SSE")
                 break
 
-            logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")
             connectedJson = json.dumps(connected)
             yield (f"data: {connectedJson}\n\n")
 
diff --git a/src/control_backend/schemas/belief_message.py b/src/control_backend/schemas/belief_message.py
index 51411b3..226833e 100644
--- a/src/control_backend/schemas/belief_message.py
+++ b/src/control_backend/schemas/belief_message.py
@@ -11,7 +11,7 @@ class Belief(BaseModel):
     """
 
     name: str
-    arguments: list[str] | None
+    arguments: list[str] | None = None
 
     # To make it hashable
     model_config = {"frozen": True}