diff --git a/app/mltraining/v1/ml_training.pb.go b/app/mltraining/v1/ml_training.pb.go
index 4f0a00a3f..82113441c 100644
--- a/app/mltraining/v1/ml_training.pb.go
+++ b/app/mltraining/v1/ml_training.pb.go
@@ -330,12 +330,13 @@ type SubmitCustomTrainingJobRequest struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	DatasetId           string `protobuf:"bytes,1,opt,name=dataset_id,json=datasetId,proto3" json:"dataset_id" bson:"dataset_id"`
-	RegistryItemId      string `protobuf:"bytes,2,opt,name=registry_item_id,json=registryItemId,proto3" json:"registry_item_id" bson:"registry_item_id"`
-	RegistryItemVersion string `protobuf:"bytes,6,opt,name=registry_item_version,json=registryItemVersion,proto3" json:"registry_item_version" bson:"registry_item_version"`
-	OrganizationId      string `protobuf:"bytes,3,opt,name=organization_id,json=organizationId,proto3" json:"organization_id" bson:"organization_id"`
-	ModelName           string `protobuf:"bytes,4,opt,name=model_name,json=modelName,proto3" json:"model_name" bson:"model_name"`
-	ModelVersion        string `protobuf:"bytes,5,opt,name=model_version,json=modelVersion,proto3" json:"model_version" bson:"model_version"`
+	DatasetId           string            `protobuf:"bytes,1,opt,name=dataset_id,json=datasetId,proto3" json:"dataset_id" bson:"dataset_id"`
+	RegistryItemId      string            `protobuf:"bytes,2,opt,name=registry_item_id,json=registryItemId,proto3" json:"registry_item_id" bson:"registry_item_id"`
+	RegistryItemVersion string            `protobuf:"bytes,6,opt,name=registry_item_version,json=registryItemVersion,proto3" json:"registry_item_version" bson:"registry_item_version"`
+	OrganizationId      string            `protobuf:"bytes,3,opt,name=organization_id,json=organizationId,proto3" json:"organization_id" bson:"organization_id"`
+	ModelName           string            `protobuf:"bytes,4,opt,name=model_name,json=modelName,proto3" json:"model_name" bson:"model_name"`
+	ModelVersion        string            `protobuf:"bytes,5,opt,name=model_version,json=modelVersion,proto3" json:"model_version" bson:"model_version"`
+	Arguments           map[string]string `protobuf:"bytes,7,rep,name=arguments,proto3" json:"arguments,omitempty" protobuf_key:"bytes,1,opt,name=key,proto3" protobuf_val:"bytes,2,opt,name=value,proto3"`
 }
 
 func (x *SubmitCustomTrainingJobRequest) Reset() {
@@ -412,6 +413,13 @@ func (x *SubmitCustomTrainingJobRequest) GetModelVersion() string {
 	return ""
 }
 
+func (x *SubmitCustomTrainingJobRequest) GetArguments() map[string]string {
+	if x != nil {
+		return x.Arguments
+	}
+	return nil
+}
+
 type SubmitCustomTrainingJobResponse struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -1228,7 +1236,7 @@ var file_app_mltraining_v1_ml_training_proto_rawDesc = []byte{
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@@ -1264,271 +1272,281 @@ var file_app_mltraining_v1_ml_training_proto_rawDesc = []byte{
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-	0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f, 0x61, 0x70, 0x70, 0x2f, 0x6d, 0x6c,
-	0x74, 0x72, 0x61, 0x69, 0x6e, 0x69, 0x6e, 0x67, 0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f,
-	0x74, 0x6f, 0x33,
+	0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x32, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70,
+	0x2e, 0x6d, 0x6c, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x69, 0x6e, 0x67, 0x2e, 0x76, 0x31, 0x2e, 0x47,
+	0x65, 0x74, 0x54, 0x72, 0x61, 0x69, 0x6e, 0x69, 0x6e, 0x67, 0x4a, 0x6f, 0x62, 0x4c, 0x6f, 0x67,
+	0x73, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x42, 0x23, 0x5a, 0x21, 0x67, 0x6f, 0x2e,
+	0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f, 0x61, 0x70, 0x70,
+	0x2f, 0x6d, 0x6c, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x69, 0x6e, 0x67, 0x2f, 0x76, 0x31, 0x62, 0x06,
+	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -1544,7 +1562,7 @@ func file_app_mltraining_v1_ml_training_proto_rawDescGZIP() []byte {
 }
 
 var file_app_mltraining_v1_ml_training_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
-var file_app_mltraining_v1_ml_training_proto_msgTypes = make([]protoimpl.MessageInfo, 16)
+var file_app_mltraining_v1_ml_training_proto_msgTypes = make([]protoimpl.MessageInfo, 17)
 var file_app_mltraining_v1_ml_training_proto_goTypes = []interface{}{
 	(ModelType)(0),                             // 0: viam.app.mltraining.v1.ModelType
 	(ModelFramework)(0),                        // 1: viam.app.mltraining.v1.ModelFramework
@@ -1565,43 +1583,45 @@ var file_app_mltraining_v1_ml_training_proto_goTypes = []interface{}{
 	(*TrainingJobLogEntry)(nil),                // 16: viam.app.mltraining.v1.TrainingJobLogEntry
 	(*GetTrainingJobLogsRequest)(nil),          // 17: viam.app.mltraining.v1.GetTrainingJobLogsRequest
 	(*GetTrainingJobLogsResponse)(nil),         // 18: viam.app.mltraining.v1.GetTrainingJobLogsResponse
-	(*status.Status)(nil),                      // 19: google.rpc.Status
-	(*timestamppb.Timestamp)(nil),              // 20: google.protobuf.Timestamp
+	nil,                                        // 19: viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.ArgumentsEntry
+	(*status.Status)(nil),                      // 20: google.rpc.Status
+	(*timestamppb.Timestamp)(nil),              // 21: google.protobuf.Timestamp
 }
 var file_app_mltraining_v1_ml_training_proto_depIdxs = []int32{
 	0,  // 0: viam.app.mltraining.v1.SubmitTrainingJobRequest.model_type:type_name -> viam.app.mltraining.v1.ModelType
-	11, // 1: viam.app.mltraining.v1.GetTrainingJobResponse.metadata:type_name -> viam.app.mltraining.v1.TrainingJobMetadata
-	2,  // 2: viam.app.mltraining.v1.ListTrainingJobsRequest.status:type_name -> viam.app.mltraining.v1.TrainingStatus
-	11, // 3: viam.app.mltraining.v1.ListTrainingJobsResponse.jobs:type_name -> viam.app.mltraining.v1.TrainingJobMetadata
-	0,  // 4: viam.app.mltraining.v1.TrainingJobMetadata.model_type:type_name -> viam.app.mltraining.v1.ModelType
-	1,  // 5: viam.app.mltraining.v1.TrainingJobMetadata.model_framework:type_name -> viam.app.mltraining.v1.ModelFramework
-	2,  // 6: viam.app.mltraining.v1.TrainingJobMetadata.status:type_name -> viam.app.mltraining.v1.TrainingStatus
-	19, // 7: viam.app.mltraining.v1.TrainingJobMetadata.error_status:type_name -> google.rpc.Status
-	20, // 8: viam.app.mltraining.v1.TrainingJobMetadata.created_on:type_name -> google.protobuf.Timestamp
-	20, // 9: viam.app.mltraining.v1.TrainingJobMetadata.last_modified:type_name -> google.protobuf.Timestamp
-	20, // 10: viam.app.mltraining.v1.TrainingJobMetadata.training_started:type_name -> google.protobuf.Timestamp
-	20, // 11: viam.app.mltraining.v1.TrainingJobMetadata.training_ended:type_name -> google.protobuf.Timestamp
-	20, // 12: viam.app.mltraining.v1.TrainingJobLogEntry.time:type_name -> google.protobuf.Timestamp
-	16, // 13: viam.app.mltraining.v1.GetTrainingJobLogsResponse.logs:type_name -> viam.app.mltraining.v1.TrainingJobLogEntry
-	3,  // 14: viam.app.mltraining.v1.MLTrainingService.SubmitTrainingJob:input_type -> viam.app.mltraining.v1.SubmitTrainingJobRequest
-	5,  // 15: viam.app.mltraining.v1.MLTrainingService.SubmitCustomTrainingJob:input_type -> viam.app.mltraining.v1.SubmitCustomTrainingJobRequest
-	7,  // 16: viam.app.mltraining.v1.MLTrainingService.GetTrainingJob:input_type -> viam.app.mltraining.v1.GetTrainingJobRequest
-	9,  // 17: viam.app.mltraining.v1.MLTrainingService.ListTrainingJobs:input_type -> viam.app.mltraining.v1.ListTrainingJobsRequest
-	12, // 18: viam.app.mltraining.v1.MLTrainingService.CancelTrainingJob:input_type -> viam.app.mltraining.v1.CancelTrainingJobRequest
-	14, // 19: viam.app.mltraining.v1.MLTrainingService.DeleteCompletedTrainingJob:input_type -> viam.app.mltraining.v1.DeleteCompletedTrainingJobRequest
-	17, // 20: viam.app.mltraining.v1.MLTrainingService.GetTrainingJobLogs:input_type -> viam.app.mltraining.v1.GetTrainingJobLogsRequest
-	4,  // 21: viam.app.mltraining.v1.MLTrainingService.SubmitTrainingJob:output_type -> viam.app.mltraining.v1.SubmitTrainingJobResponse
-	6,  // 22: viam.app.mltraining.v1.MLTrainingService.SubmitCustomTrainingJob:output_type -> viam.app.mltraining.v1.SubmitCustomTrainingJobResponse
-	8,  // 23: viam.app.mltraining.v1.MLTrainingService.GetTrainingJob:output_type -> viam.app.mltraining.v1.GetTrainingJobResponse
-	10, // 24: viam.app.mltraining.v1.MLTrainingService.ListTrainingJobs:output_type -> viam.app.mltraining.v1.ListTrainingJobsResponse
-	13, // 25: viam.app.mltraining.v1.MLTrainingService.CancelTrainingJob:output_type -> viam.app.mltraining.v1.CancelTrainingJobResponse
-	15, // 26: viam.app.mltraining.v1.MLTrainingService.DeleteCompletedTrainingJob:output_type -> viam.app.mltraining.v1.DeleteCompletedTrainingJobResponse
-	18, // 27: viam.app.mltraining.v1.MLTrainingService.GetTrainingJobLogs:output_type -> viam.app.mltraining.v1.GetTrainingJobLogsResponse
-	21, // [21:28] is the sub-list for method output_type
-	14, // [14:21] is the sub-list for method input_type
-	14, // [14:14] is the sub-list for extension type_name
-	14, // [14:14] is the sub-list for extension extendee
-	0,  // [0:14] is the sub-list for field type_name
+	19, // 1: viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.arguments:type_name -> viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.ArgumentsEntry
+	11, // 2: viam.app.mltraining.v1.GetTrainingJobResponse.metadata:type_name -> viam.app.mltraining.v1.TrainingJobMetadata
+	2,  // 3: viam.app.mltraining.v1.ListTrainingJobsRequest.status:type_name -> viam.app.mltraining.v1.TrainingStatus
+	11, // 4: viam.app.mltraining.v1.ListTrainingJobsResponse.jobs:type_name -> viam.app.mltraining.v1.TrainingJobMetadata
+	0,  // 5: viam.app.mltraining.v1.TrainingJobMetadata.model_type:type_name -> viam.app.mltraining.v1.ModelType
+	1,  // 6: viam.app.mltraining.v1.TrainingJobMetadata.model_framework:type_name -> viam.app.mltraining.v1.ModelFramework
+	2,  // 7: viam.app.mltraining.v1.TrainingJobMetadata.status:type_name -> viam.app.mltraining.v1.TrainingStatus
+	20, // 8: viam.app.mltraining.v1.TrainingJobMetadata.error_status:type_name -> google.rpc.Status
+	21, // 9: viam.app.mltraining.v1.TrainingJobMetadata.created_on:type_name -> google.protobuf.Timestamp
+	21, // 10: viam.app.mltraining.v1.TrainingJobMetadata.last_modified:type_name -> google.protobuf.Timestamp
+	21, // 11: viam.app.mltraining.v1.TrainingJobMetadata.training_started:type_name -> google.protobuf.Timestamp
+	21, // 12: viam.app.mltraining.v1.TrainingJobMetadata.training_ended:type_name -> google.protobuf.Timestamp
+	21, // 13: viam.app.mltraining.v1.TrainingJobLogEntry.time:type_name -> google.protobuf.Timestamp
+	16, // 14: viam.app.mltraining.v1.GetTrainingJobLogsResponse.logs:type_name -> viam.app.mltraining.v1.TrainingJobLogEntry
+	3,  // 15: viam.app.mltraining.v1.MLTrainingService.SubmitTrainingJob:input_type -> viam.app.mltraining.v1.SubmitTrainingJobRequest
+	5,  // 16: viam.app.mltraining.v1.MLTrainingService.SubmitCustomTrainingJob:input_type -> viam.app.mltraining.v1.SubmitCustomTrainingJobRequest
+	7,  // 17: viam.app.mltraining.v1.MLTrainingService.GetTrainingJob:input_type -> viam.app.mltraining.v1.GetTrainingJobRequest
+	9,  // 18: viam.app.mltraining.v1.MLTrainingService.ListTrainingJobs:input_type -> viam.app.mltraining.v1.ListTrainingJobsRequest
+	12, // 19: viam.app.mltraining.v1.MLTrainingService.CancelTrainingJob:input_type -> viam.app.mltraining.v1.CancelTrainingJobRequest
+	14, // 20: viam.app.mltraining.v1.MLTrainingService.DeleteCompletedTrainingJob:input_type -> viam.app.mltraining.v1.DeleteCompletedTrainingJobRequest
+	17, // 21: viam.app.mltraining.v1.MLTrainingService.GetTrainingJobLogs:input_type -> viam.app.mltraining.v1.GetTrainingJobLogsRequest
+	4,  // 22: viam.app.mltraining.v1.MLTrainingService.SubmitTrainingJob:output_type -> viam.app.mltraining.v1.SubmitTrainingJobResponse
+	6,  // 23: viam.app.mltraining.v1.MLTrainingService.SubmitCustomTrainingJob:output_type -> viam.app.mltraining.v1.SubmitCustomTrainingJobResponse
+	8,  // 24: viam.app.mltraining.v1.MLTrainingService.GetTrainingJob:output_type -> viam.app.mltraining.v1.GetTrainingJobResponse
+	10, // 25: viam.app.mltraining.v1.MLTrainingService.ListTrainingJobs:output_type -> viam.app.mltraining.v1.ListTrainingJobsResponse
+	13, // 26: viam.app.mltraining.v1.MLTrainingService.CancelTrainingJob:output_type -> viam.app.mltraining.v1.CancelTrainingJobResponse
+	15, // 27: viam.app.mltraining.v1.MLTrainingService.DeleteCompletedTrainingJob:output_type -> viam.app.mltraining.v1.DeleteCompletedTrainingJobResponse
+	18, // 28: viam.app.mltraining.v1.MLTrainingService.GetTrainingJobLogs:output_type -> viam.app.mltraining.v1.GetTrainingJobLogsResponse
+	22, // [22:29] is the sub-list for method output_type
+	15, // [15:22] is the sub-list for method input_type
+	15, // [15:15] is the sub-list for extension type_name
+	15, // [15:15] is the sub-list for extension extendee
+	0,  // [0:15] is the sub-list for field type_name
 }
 
 func init() { file_app_mltraining_v1_ml_training_proto_init() }
@@ -1810,7 +1830,7 @@ func file_app_mltraining_v1_ml_training_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_app_mltraining_v1_ml_training_proto_rawDesc,
 			NumEnums:      3,
-			NumMessages:   16,
+			NumMessages:   17,
 			NumExtensions: 0,
 			NumServices:   1,
 		},
diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go
index e9d51a96f..90c742bb6 100644
--- a/component/arm/v1/arm.pb.gw.go
+++ b/component/arm/v1/arm.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -472,7 +472,7 @@ func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marsh
 }
 
 func local_request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetKinematicsRequest
+	var protoReq v1_0.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetKinematicsRequest
+	var protoReq v1_0.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -579,7 +579,7 @@ var (
 )
 
 func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -612,7 +612,7 @@ func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/audioinput/v1/audioinput.pb.gw.go b/component/audioinput/v1/audioinput.pb.gw.go
index 97662546a..571f1e11f 100644
--- a/component/audioinput/v1/audioinput.pb.gw.go
+++ b/component/audioinput/v1/audioinput.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -184,7 +184,7 @@ var (
 )
 
 func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -217,7 +217,7 @@ func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -254,7 +254,7 @@ var (
 )
 
 func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -287,7 +287,7 @@ func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler ru
 }
 
 func local_request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/encoder/v1/encoder.pb.gw.go b/component/encoder/v1/encoder.pb.gw.go
index ef911f15d..4fa63db37 100644
--- a/component/encoder/v1/encoder.pb.gw.go
+++ b/component/encoder/v1/encoder.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -247,7 +247,7 @@ var (
 )
 
 func request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -280,7 +280,7 @@ func request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -317,7 +317,7 @@ var (
 )
 
 func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -350,7 +350,7 @@ func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gantry/v1/gantry.pb.gw.go b/component/gantry/v1/gantry.pb.gw.go
index 13a62b8f4..e78f11c29 100644
--- a/component/gantry/v1/gantry.pb.gw.go
+++ b/component/gantry/v1/gantry.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -472,7 +472,7 @@ func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gripper/v1/gripper.pb.gw.go b/component/gripper/v1/gripper.pb.gw.go
index d732daf0a..b432b0c7e 100644
--- a/component/gripper/v1/gripper.pb.gw.go
+++ b/component/gripper/v1/gripper.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -299,7 +299,7 @@ var (
 )
 
 func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -332,7 +332,7 @@ func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -369,7 +369,7 @@ var (
 )
 
 func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -402,7 +402,7 @@ func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/inputcontroller/v1/input_controller.pb.gw.go b/component/inputcontroller/v1/input_controller.pb.gw.go
index 65d0cf631..199f00f1d 100644
--- a/component/inputcontroller/v1/input_controller.pb.gw.go
+++ b/component/inputcontroller/v1/input_controller.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -292,7 +292,7 @@ var (
 )
 
 func request_InputControllerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client InputControllerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -325,7 +325,7 @@ func request_InputControllerService_DoCommand_0(ctx context.Context, marshaler r
 }
 
 func local_request_InputControllerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server InputControllerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -362,7 +362,7 @@ var (
 )
 
 func request_InputControllerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client InputControllerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -395,7 +395,7 @@ func request_InputControllerService_GetGeometries_0(ctx context.Context, marshal
 }
 
 func local_request_InputControllerService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server InputControllerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/sensor/v1/sensor.pb.gw.go b/component/sensor/v1/sensor.pb.gw.go
index 66681c369..b45747050 100644
--- a/component/sensor/v1/sensor.pb.gw.go
+++ b/component/sensor/v1/sensor.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -37,7 +37,7 @@ var (
 )
 
 func request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetReadingsRequest
+	var protoReq v1_0.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -70,7 +70,7 @@ func request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime.
 }
 
 func local_request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetReadingsRequest
+	var protoReq v1_0.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -107,7 +107,7 @@ var (
 )
 
 func request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -140,7 +140,7 @@ func request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -177,7 +177,7 @@ var (
 )
 
 func request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -210,7 +210,7 @@ func request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/gen/js/app/mltraining/v1/ml_training_pb.d.ts b/gen/js/app/mltraining/v1/ml_training_pb.d.ts
index a1950c348..337edf5e9 100644
--- a/gen/js/app/mltraining/v1/ml_training_pb.d.ts
+++ b/gen/js/app/mltraining/v1/ml_training_pb.d.ts
@@ -87,6 +87,8 @@ export class SubmitCustomTrainingJobRequest extends jspb.Message {
   getModelVersion(): string;
   setModelVersion(value: string): void;
 
+  getArgumentsMap(): jspb.Map<string, string>;
+  clearArgumentsMap(): void;
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): SubmitCustomTrainingJobRequest.AsObject;
   static toObject(includeInstance: boolean, msg: SubmitCustomTrainingJobRequest): SubmitCustomTrainingJobRequest.AsObject;
@@ -105,6 +107,7 @@ export namespace SubmitCustomTrainingJobRequest {
     organizationId: string,
     modelName: string,
     modelVersion: string,
+    argumentsMap: Array<[string, string]>,
   }
 }
 
diff --git a/gen/js/app/mltraining/v1/ml_training_pb.js b/gen/js/app/mltraining/v1/ml_training_pb.js
index 08e964e52..d41a12b2d 100644
--- a/gen/js/app/mltraining/v1/ml_training_pb.js
+++ b/gen/js/app/mltraining/v1/ml_training_pb.js
@@ -849,7 +849,8 @@ proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.toObject = function(
     registryItemVersion: jspb.Message.getFieldWithDefault(msg, 6, ""),
     organizationId: jspb.Message.getFieldWithDefault(msg, 3, ""),
     modelName: jspb.Message.getFieldWithDefault(msg, 4, ""),
-    modelVersion: jspb.Message.getFieldWithDefault(msg, 5, "")
+    modelVersion: jspb.Message.getFieldWithDefault(msg, 5, ""),
+    argumentsMap: (f = msg.getArgumentsMap()) ? f.toObject(includeInstance, undefined) : []
   };
 
   if (includeInstance) {
@@ -910,6 +911,12 @@ proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.deserializeBinaryFro
       var value = /** @type {string} */ (reader.readString());
       msg.setModelVersion(value);
       break;
+    case 7:
+      var value = msg.getArgumentsMap();
+      reader.readMessage(value, function(message, reader) {
+        jspb.Map.deserializeBinary(message, reader, jspb.BinaryReader.prototype.readString, jspb.BinaryReader.prototype.readString, null, "", "");
+         });
+      break;
     default:
       reader.skipField();
       break;
@@ -981,6 +988,10 @@ proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.serializeBinaryToWri
       f
     );
   }
+  f = message.getArgumentsMap(true);
+  if (f && f.getLength() > 0) {
+    f.serializeBinary(7, writer, jspb.BinaryWriter.prototype.writeString, jspb.BinaryWriter.prototype.writeString);
+  }
 };
 
 
@@ -1092,6 +1103,28 @@ proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.prototype.setModelVe
 };
 
 
+/**
+ * map<string, string> arguments = 7;
+ * @param {boolean=} opt_noLazyCreate Do not create the map if
+ * empty, instead returning `undefined`
+ * @return {!jspb.Map<string,string>}
+ */
+proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.prototype.getArgumentsMap = function(opt_noLazyCreate) {
+  return /** @type {!jspb.Map<string,string>} */ (
+      jspb.Message.getMapField(this, 7, opt_noLazyCreate,
+      null));
+};
+
+
+/**
+ * Clears values from the map. The map will be non-null.
+ * @return {!proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest} returns this
+ */
+proto.viam.app.mltraining.v1.SubmitCustomTrainingJobRequest.prototype.clearArgumentsMap = function() {
+  this.getArgumentsMap().clear();
+  return this;};
+
+
 
 
 
diff --git a/proto/viam/app/mltraining/v1/ml_training.proto b/proto/viam/app/mltraining/v1/ml_training.proto
index 37ffae84b..a6efceda1 100644
--- a/proto/viam/app/mltraining/v1/ml_training.proto
+++ b/proto/viam/app/mltraining/v1/ml_training.proto
@@ -69,6 +69,7 @@ message SubmitCustomTrainingJobRequest {
   string organization_id = 3 [(tagger.v1.tags) = "bson:\"organization_id\" json:\"organization_id\""];
   string model_name = 4 [(tagger.v1.tags) = "bson:\"model_name\" json:\"model_name\""];
   string model_version = 5 [(tagger.v1.tags) = "bson:\"model_version\" json:\"model_version\""];
+  map<string, string> arguments = 7;
 }
 
 message SubmitCustomTrainingJobResponse {
diff --git a/service/generic/v1/generic.pb.gw.go b/service/generic/v1/generic.pb.gw.go
index 298562d36..3c74de8b6 100644
--- a/service/generic/v1/generic.pb.gw.go
+++ b/service/generic/v1/generic.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -37,7 +37,7 @@ var (
 )
 
 func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -70,7 +70,7 @@ func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/shell/v1/shell.pb.gw.go b/service/shell/v1/shell.pb.gw.go
index 660e30a8b..288e3d8b2 100644
--- a/service/shell/v1/shell.pb.gw.go
+++ b/service/shell/v1/shell.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -166,7 +166,7 @@ var (
 )
 
 func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ShellServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -199,7 +199,7 @@ func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ShellServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/slam/v1/slam.pb.gw.go b/service/slam/v1/slam.pb.gw.go
index afa099e21..48ac2664d 100644
--- a/service/slam/v1/slam.pb.gw.go
+++ b/service/slam/v1/slam.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -220,7 +220,7 @@ var (
 )
 
 func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SLAMServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -253,7 +253,7 @@ func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Mars
 }
 
 func local_request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SLAMServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (