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My dogs earn their priviledges, if they disobey a known command like a recall they lose the priviledge of being offleash. Depending on the severity of the offense (not listening for 5 seconds, 10 seconds, etc) then they either get leashed and play immediately stops or I may just leash them for a time out then play can continue

They've learned through experience that I don't ask 10-20 times, I ask once or perhaps twice but that's it.

While I don't advocate 100% positive or 100% negative training I think there's a clear line that needs to be drawn. Punishment doesn't mean a harsh correction, simply the loss of a priviledge. If being positive doesn't work (calling with treats) then it needs to escalate

I don't mean the following in any condensending or hurtful way, but in letting your dog continue to disobey you then you are teaching him not only CAN he disobey but he also gets treats when he finally does obey in coming back late after the fact. If he runs away in a emergancy situation I'd call once then go quickly but calmly and grab him, no treat or voice and simply lead him back into the house. No reward and no punishment