Rugby and I have spent more time working on a reliable recall than any other command (although it is soon to be surpassed by his go-out command). I want to know that when I say Come, Rugby will stop what he is doing and come directly to me. That means even if he is in the middle of playing, or chasing the rabbit that lives on the side of our house, or passing up the french fries that were left on the side walk. Come means come. It also means that in order for him to be successful, 10% of his attention must remain on me when he is busy doing all of those other things.
I love that Rugby can use his vocabulary to learn how to self-regulate and take responsibility for his actions. We are already looking forward to the next hiking trip.