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I think another reason the first round is difficult is that the JIT hasn't yet optimized code, but also a few ticks later the JIT figures out which code needs optimization and then starts running the compiler in a parallel thread. This competes with the robot time, so not only do you not yet have optimized code, but the time is also being shared with the JIT compiler. This would also explain skipping turns starting a few ticks in instead of on the first turn. Also, the more code you have that gets run regularly, the more the JIT will try to optimize, so it will take longer and possibly cause more skipped turns.