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Very interesting. Thanks again for all the testing. Even if the issue can be fixed by GC settings, maybe I should look to see if I can make my robot more environmentally friendly and stop producing so much garbage? My first thought turns to the way I pick data out of my KD trees (because I sloppily move all data points from a MaxHeap into a List in order to stick to my existing interface, and that List gets created and thrown away on every tree read), but I'm not sure that would help on the first round issue.