diff --git a/src/autorouter/autoroute.rs b/src/autorouter/autoroute.rs
index 1078bac..cbdbc8f 100644
--- a/src/autorouter/autoroute.rs
+++ b/src/autorouter/autoroute.rs
@@ -10,7 +10,7 @@ use crate::{
     drawing::{band::BandTermsegIndex, graph::PrimitiveIndex},
     geometry::primitive::PrimitiveShape,
     router::{navmesh::Navmesh, route::RouteStepper, trace::TraceStepper, Router},
-    stepper::{PollStep, Step, StepError},
+    stepper::{PollStep, Step, StepError, StepResult},
 };
 
 use super::{
@@ -18,32 +18,6 @@ use super::{
     Autorouter, AutorouterError, AutorouterOptions,
 };
 
-/// Represents the current status of the autoroute operation.
-pub enum AutorouteStatus {
-    /// The autoroute is currently running and in progress.
-    Running,
-    /// A specific segment has been successfully routed.
-    Routed(BandTermsegIndex),
-    /// The autoroute process has completed successfully.
-    Finished,
-}
-
-impl TryInto<()> for AutorouteStatus {
-    type Error = ();
-    /// Attempts to get the [`Result`] from the  [`AutorouteStatus`].
-    ///
-    /// This implementation allows transitioning from [`AutorouteStatus`] to a
-    /// [`Result`]. It returns success for the  [`AutorouteStatus::Finished`] state
-    /// or an error for [`AutorouteStatus::Running`] or [`AutorouteStatus::Routed`] states.
-    fn try_into(self) -> Result<(), ()> {
-        match self {
-            AutorouteStatus::Running => Err(()),
-            AutorouteStatus::Routed(..) => Err(()),
-            AutorouteStatus::Finished => Ok(()),
-        }
-    }
-}
-
 /// Manages the autorouting process across multiple ratlines.
 pub struct AutorouteExecutionStepper {
     /// An iterator over ratlines that tracks which segments still need to be routed.
@@ -91,15 +65,20 @@ impl StepError for AutorouteExecutionStepper {
     type Error = AutorouterError;
 }
 
-impl<M: AccessMesadata> Step<Autorouter<M>, AutorouteStatus> for AutorouteExecutionStepper {
-    fn step(&mut self, autorouter: &mut Autorouter<M>) -> Result<AutorouteStatus, AutorouterError> {
+impl<M: AccessMesadata> Step<Autorouter<M>, Result<(), AutorouterError>, BandTermsegIndex>
+    for AutorouteExecutionStepper
+{
+    fn step(
+        &mut self,
+        autorouter: &mut Autorouter<M>,
+    ) -> StepResult<BandTermsegIndex, Result<(), AutorouterError>> {
         let Some(curr_ratline) = self.curr_ratline else {
-            return Ok(AutorouteStatus::Finished);
+            return StepResult::Completed(Ok(()));
         };
 
         let Some(ref mut route) = self.route else {
             // Shouldn't happen.
-            return Ok(AutorouteStatus::Finished);
+            return StepResult::Completed(Ok(()));
         };
 
         let (source, target) = autorouter.ratline_endpoints(curr_ratline);
@@ -109,9 +88,9 @@ impl<M: AccessMesadata> Step<Autorouter<M>, AutorouteStatus> for AutorouteExecut
                 Router::new(autorouter.board.layout_mut(), self.options.router_options);
 
             match route.poll_step(&mut router) {
-                Poll::Pending => return Ok(AutorouteStatus::Running),
+                Poll::Pending => return StepResult::Pending,
                 Poll::Ready(Ok(band_termseg)) => band_termseg,
-                Poll::Ready(Err(err)) => return Err(err.into()),
+                Poll::Ready(Err(err)) => return StepResult::Completed(Err(err.into())),
             }
         };
 
@@ -136,13 +115,16 @@ impl<M: AccessMesadata> Step<Autorouter<M>, AutorouteStatus> for AutorouteExecut
                 Router::new(autorouter.board.layout_mut(), self.options.router_options);
 
             self.curr_ratline = Some(new_ratline);
-            self.route = Some(router.route(source, target, 100.0)?);
+            self.route = Some(match router.route(source, target, 100.0) {
+                Ok(x) => x,
+                Err(err) => return StepResult::Completed(Err(err.into())),
+            });
         } else {
             self.curr_ratline = None;
             //return Ok(AutorouteStatus::Finished);
         }
 
-        Ok(AutorouteStatus::Routed(band_termseg))
+        StepResult::Yielded(band_termseg)
     }
 }
 
diff --git a/src/autorouter/compare_detours.rs b/src/autorouter/compare_detours.rs
index f4c6479..767c2a0 100644
--- a/src/autorouter/compare_detours.rs
+++ b/src/autorouter/compare_detours.rs
@@ -12,11 +12,11 @@ use crate::{
     geometry::{primitive::PrimitiveShape, shape::MeasureLength},
     graph::MakeRef,
     router::{navmesh::Navmesh, trace::TraceStepper},
-    stepper::{PollStep, Step, StepError},
+    stepper::{PollStep, Step, StepError, StepResult},
 };
 
 use super::{
-    autoroute::{AutorouteExecutionStepper, AutorouteStatus},
+    autoroute::AutorouteExecutionStepper,
     invoker::{GetGhosts, GetMaybeNavmesh, GetMaybeTrace, GetObstacles},
     Autorouter, AutorouterError, AutorouterOptions,
 };
@@ -65,9 +65,9 @@ impl<M: AccessMesadata> PollStep<Autorouter<M>, (f64, f64)> for CompareDetoursEx
             return Poll::Ready(Ok((self.total_length1, self.total_length2)));
         }
 
-        match self.autoroute.step(autorouter)? {
-            AutorouteStatus::Running => Poll::Pending,
-            AutorouteStatus::Routed(band_termseg) => {
+        match self.autoroute.step(autorouter) {
+            StepResult::Pending => Poll::Pending,
+            StepResult::Yielded(band_termseg) => {
                 let length = band_termseg
                     .ref_(autorouter.board.layout().drawing())
                     .length();
@@ -80,7 +80,8 @@ impl<M: AccessMesadata> PollStep<Autorouter<M>, (f64, f64)> for CompareDetoursEx
 
                 Poll::Pending
             }
-            AutorouteStatus::Finished => {
+            StepResult::Completed(Err(err)) => return Poll::Ready(Err(err)),
+            StepResult::Completed(Ok(())) => {
                 if let Some(next_autoroute) = self.next_autoroute.take() {
                     autorouter.undo_autoroute_ratlines(vec![self.ratline1, self.ratline2])?;
                     self.autoroute = next_autoroute;
diff --git a/src/autorouter/execution.rs b/src/autorouter/execution.rs
index e4b2c31..4699ee1 100644
--- a/src/autorouter/execution.rs
+++ b/src/autorouter/execution.rs
@@ -5,11 +5,11 @@ use serde::{Deserialize, Serialize};
 use crate::{
     board::mesadata::AccessMesadata,
     layout::via::ViaWeight,
-    stepper::{EvalImmut, PollStep, Step, StepError},
+    stepper::{EvalImmut, PollStep, Step, StepError, StepResult},
 };
 
 use super::{
-    autoroute::{AutorouteExecutionStepper, AutorouteStatus},
+    autoroute::AutorouteExecutionStepper,
     compare_detours::CompareDetoursExecutionStepper,
     invoker::{Invoker, InvokerError},
     measure_length::MeasureLength,
@@ -45,10 +45,11 @@ impl ExecutionStepper {
         autorouter: &mut Autorouter<M>,
     ) -> Poll<Result<String, InvokerError>> {
         match self {
-            ExecutionStepper::Autoroute(autoroute) => match autoroute.step(autorouter)? {
-                AutorouteStatus::Running => Poll::Pending,
-                AutorouteStatus::Routed(..) => Poll::Pending,
-                AutorouteStatus::Finished => Poll::Ready("finished autorouting".to_string()),
+            ExecutionStepper::Autoroute(autoroute) => match autoroute.step(autorouter) {
+                StepResult::Pending => Poll::Pending,
+                StepResult::Yielded(..) => Poll::Pending,
+                StepResult::Completed(Err(err)) => return Poll::Ready(Err(err.into())),
+                StepResult::Completed(Ok(())) => Poll::Ready("finished autorouting".to_string()),
             },
             ExecutionStepper::PlaceVia(place_via) => {
                 place_via.doit(autorouter)?;
diff --git a/src/router/astar.rs b/src/router/astar.rs
index ce43637..5eed6de 100644
--- a/src/router/astar.rs
+++ b/src/router/astar.rs
@@ -15,7 +15,7 @@ use thiserror::Error;
 
 use std::cmp::Ordering;
 
-use crate::stepper::{Step, StepError};
+use crate::stepper::{Step, StepError, StepResult};
 
 #[derive(Copy, Clone, Debug)]
 pub struct MinScored<K, T>(pub K, pub T);
@@ -144,36 +144,11 @@ pub enum AstarError {
     NotFound,
 }
 
-#[derive(Debug)]
-pub enum AstarStatus<G, K, R>
-where
-    G: GraphBase,
-    G::NodeId: Eq + Hash,
-    for<'a> &'a G: IntoEdges<NodeId = G::NodeId, EdgeId = G::EdgeId> + MakeEdgeRef,
-    K: Measure + Copy,
-{
+#[derive(Clone, Debug)]
+pub enum AstarYield {
     Probing,
     Probed,
     Visited,
-    Finished(K, Vec<G::NodeId>, R),
-}
-
-impl<G, K, R> TryInto<(K, Vec<G::NodeId>, R)> for AstarStatus<G, K, R>
-where
-    G: GraphBase,
-    G::NodeId: Eq + Hash,
-    for<'a> &'a G: IntoEdges<NodeId = G::NodeId, EdgeId = G::EdgeId> + MakeEdgeRef,
-    K: Measure + Copy,
-{
-    type Error = ();
-    fn try_into(self) -> Result<(K, Vec<G::NodeId>, R), ()> {
-        match self {
-            AstarStatus::Probing => Err(()),
-            AstarStatus::Probed => Err(()),
-            AstarStatus::Visited => Err(()),
-            AstarStatus::Finished(cost, path, result) => Ok((cost, path, result)),
-        }
-    }
 }
 
 impl<G, K> Astar<G, K>
@@ -213,14 +188,18 @@ where
     type Error = AstarError;
 }
 
-impl<G, K, R, S: AstarStrategy<G, K, R>> Step<S, AstarStatus<G, K, R>> for Astar<G, K>
+impl<G, K, R, S: AstarStrategy<G, K, R>>
+    Step<S, Result<(K, Vec<G::NodeId>, R), AstarError>, AstarYield> for Astar<G, K>
 where
     G: GraphBase,
     G::NodeId: Eq + Hash,
     for<'a> &'a G: IntoEdges<NodeId = G::NodeId, EdgeId = G::EdgeId> + MakeEdgeRef,
     K: Measure + Copy,
 {
-    fn step(&mut self, strategy: &mut S) -> Result<AstarStatus<G, K, R>, AstarError> {
+    fn step(
+        &mut self,
+        strategy: &mut S,
+    ) -> StepResult<AstarYield, Result<(K, Vec<G::NodeId>, R), AstarError>> {
         if let Some(curr_node) = self.maybe_curr_node {
             if self.is_probing {
                 strategy.remove_probe(&self.graph);
@@ -242,7 +221,7 @@ where
                             // No need to add neighbors that we have already reached through a
                             // shorter path than now.
                             if *entry.get() <= next_score {
-                                return Ok(AstarStatus::Probed);
+                                return StepResult::Yielded(AstarYield::Probed);
                             }
                             entry.insert(next_score);
                         }
@@ -257,23 +236,23 @@ where
                     self.visit_next.push(MinScored(next_estimate_score, next));
 
                     self.is_probing = true;
-                    return Ok(AstarStatus::Probing);
+                    return StepResult::Yielded(AstarYield::Probing);
                 }
 
-                return Ok(AstarStatus::Probed);
+                return StepResult::Yielded(AstarYield::Probed);
             }
 
             self.maybe_curr_node = None;
         }
 
         let Some(MinScored(estimate_score, node)) = self.visit_next.pop() else {
-            return Err(AstarError::NotFound);
+            return StepResult::Completed(Err(AstarError::NotFound));
         };
 
         if let Some(result) = strategy.is_goal(&self.graph, node, &self.path_tracker) {
             let path = self.path_tracker.reconstruct_path_to(node);
             let cost = self.scores[&node];
-            return Ok(AstarStatus::Finished(cost, path, result));
+            return StepResult::Completed(Ok((cost, path, result)));
         }
 
         match self.estimate_scores.entry(node) {
@@ -281,7 +260,7 @@ where
                 // If the node has already been visited with an equal or lower score than
                 // now, then we do not need to re-visit it.
                 if *entry.get() <= estimate_score {
-                    return Ok(AstarStatus::Visited);
+                    return StepResult::Yielded(AstarYield::Visited);
                 }
                 entry.insert(estimate_score);
             }
@@ -293,6 +272,6 @@ where
         self.maybe_curr_node = Some(node);
         self.edge_ids = self.graph.edges(node).map(|edge| edge.id()).collect();
 
-        Ok(AstarStatus::Visited)
+        StepResult::Yielded(AstarYield::Visited)
     }
 }
diff --git a/src/router/route.rs b/src/router/route.rs
index 68e3c57..10aa010 100644
--- a/src/router/route.rs
+++ b/src/router/route.rs
@@ -6,13 +6,13 @@ use crate::{
     },
     geometry::primitive::PrimitiveShape,
     router::{
-        astar::{Astar, AstarError, AstarStatus},
+        astar::{Astar, AstarError},
         navmesh::{Navmesh, NavmeshError},
         trace::TraceStepper,
         tracer::Tracer,
         Router, RouterAstarStrategy,
     },
-    stepper::{PollStep, Step, StepError},
+    stepper::{PollStep, Step, StepError, StepResult},
 };
 
 pub struct RouteStepper {
@@ -85,9 +85,10 @@ impl<'a, R: AccessRules> PollStep<Router<'a, R>, BandTermsegIndex> for RouteStep
         let target = self.astar.graph.destination();
         let mut strategy = RouterAstarStrategy::new(tracer, &mut self.trace, target);
 
-        let result = match self.astar.step(&mut strategy)? {
-            AstarStatus::Probing | AstarStatus::Probed | AstarStatus::Visited => Poll::Pending,
-            AstarStatus::Finished(_cost, _path, band) => Poll::Ready(Ok(band)),
+        let result = match self.astar.step(&mut strategy) {
+            StepResult::Pending | StepResult::Yielded(_) => Poll::Pending,
+            StepResult::Completed(Ok((_, _, band))) => Poll::Ready(Ok(band)),
+            StepResult::Completed(Err(err)) => Poll::Ready(Err(err.into())),
         };
 
         self.ghosts = strategy.probe_ghosts;
diff --git a/src/stepper.rs b/src/stepper.rs
index 6307909..388bded 100644
--- a/src/stepper.rs
+++ b/src/stepper.rs
@@ -1,13 +1,53 @@
+use core::convert::Infallible;
 use core::task::Poll;
 
+/// Result of a single stepper "step".
+///
+/// This is like a mix of [`ControlFlow`](core::ops::ControlFlow) and [`Poll`].
+#[must_use]
+#[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord)]
+pub enum StepResult<Y, S> {
+    /// The stepper didn't produce any additional result yet,
+    /// try again later (e.g. next frame).
+    ///
+    /// This can be used to display intermediate context states to the user
+    /// to visualize stepper progress
+    Pending,
+
+    /// The stepper suspended with a value (produced an intermediate result),
+    /// this can be used to indicate a kind of progress.
+    Yielded(Y),
+
+    /// The stepper completed.
+    Completed(S),
+}
+
+impl<S, Y> From<Poll<S>> for StepResult<Y, S> {
+    fn from(x: Poll<S>) -> StepResult<Y, S> {
+        match x {
+            Poll::Pending => StepResult::Pending,
+            Poll::Ready(y) => StepResult::Completed(y),
+        }
+    }
+}
+
+pub trait Step<C, S, Y = Infallible> {
+    fn step(&mut self, context: &mut C) -> StepResult<Y, S>;
+
+    /// Run a stepper to completion.
+    fn finish(&mut self, context: &mut C) -> S {
+        loop {
+            if let StepResult::Completed(outcome) = self.step(context) {
+                return outcome;
+            }
+        }
+    }
+}
+
 pub trait StepError {
     type Error;
 }
 
-pub trait Step<C, S>: StepError {
-    fn step(&mut self, context: &mut C) -> Result<S, Self::Error>;
-}
-
 // Note that PollStep's `S` is usually not the same as Step's `S`.
 pub trait PollStep<C, S>: StepError {
     fn poll_step(&mut self, context: &mut C) -> Poll<Result<S, Self::Error>>;
@@ -21,13 +61,15 @@ pub trait PollStep<C, S>: StepError {
     }
 }
 
-impl<C, S, Stepper: PollStep<C, S>> Step<C, Poll<S>> for Stepper {
+impl<C, S, Stepper: PollStep<C, S>> Step<C, Result<S, <Self as StepError>::Error>, Infallible>
+    for Stepper
+{
     #[inline]
-    fn step(&mut self, context: &mut C) -> Result<Poll<S>, Self::Error> {
-        Ok(match self.poll_step(context) {
-            Poll::Pending => Poll::Pending,
-            Poll::Ready(x) => Poll::Ready(x?),
-        })
+    fn step(
+        &mut self,
+        context: &mut C,
+    ) -> StepResult<Infallible, Result<S, <Self as StepError>::Error>> {
+        self.poll_step(context).into()
     }
 }