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Arc 2: 1-lap gate PASS
Overnight loops 12–21 — monotonic tp, long harness, lap proximity; PASS at L20.
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Agentic loops, projection caps, and steer regressions
Arc 1 hits ~60% lap but never laps; harness steer hurts; progress moves to the gate ticket only.
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Pins, wall slide, and first lap-gate harness
Fold projection, hairpin and south-wall fixes, crawl assist — then a scripted gate that reaches ~57%.