A milder arc only when the bend is already in the dots

Lab research, not a vehicle function. advisory_not_promoted. History-only tree, not a fit, not_a_gate_a. Frozen cards stay 0.620 / 0.922.

Did the tree beat last-step copy?

On the frozen test hour, no — firing an arc or a stop was noise. On held-out 0006 moving turns, a milder circular arc helped when the last 0.5–1.0 s already bent the same way. That is not a new Gate A, and it is not ungated CTRA (overall ADE 1.108).

Simple rule ADE (frozen card)

Tree on the same frozen hour

0006-only moving-turning (tree / simple rule)

Four cartoons of the tree

Grey is the last 2 seconds. Black is where the vehicle actually went. Blue is last-step copy. Teal is the tree. Play draws the next 3 seconds. Pause freezes mid-draw. These scenes are the same constructors as the selfcheck, not a clip from the hour.

—Simple rule

—Tree

Not a map, not Gate A

Silent turns stay on the simple rule. A loud neighbor on a silent target is a flag, still last-step copy — not a license to copy that neighbor, and not a map grant. Catalog still has no lane prefix.

Expanded moving turns · Neighbors and extra seconds · 2 s heading and neighbor coasts. Not a brake, not a steer, not a command.