diff --git a/ModularBot_garage/.env.example b/ModularBot_garage/.env.example
index 485b65f..1cee78b 100644
--- a/ModularBot_garage/.env.example
+++ b/ModularBot_garage/.env.example
@@ -104,6 +104,8 @@ TR_TFIL_RANGE_LO=100.0   # px; lower edge of the range band the ring mover prefe
 TR_TFIL_RANGE_HI=200.0   # px; upper edge of that band
 TR_TFIL_RANGE_TEMP=0.4   # sharpness of the ring mover's weighted random draw
 TR_TFIL_RANGE_K=60.0     # px; how fast the weight falls off outside the band
+TR_TFIL_RING_COMMIT_ARRIVAL=off  # tfil_ring only: on = hold the dodge tile until we are ON it (not a fixed dwell)
+TR_TFIL_RING_NOREV_SPEED=0.0     # tfil_ring only; px/tick; below this, a mid-flight switch may not turn the bot around
 TR_TFIL_CORRIDOR_HEAT=10.0   # lava painted per corridor-overlapping tile
 TR_TFIL_CORRIDOR_TICKS=0.0    # corridor length in ticks: 0 = to the wall (shipped); N>0 = min(to wall, bullet speed * N)
 TR_TFIL_WALL_HOTNESS=15.0    # peak heat painted on tiles next to a wall
diff --git a/ModularBot_garage/src/env_report.nim b/ModularBot_garage/src/env_report.nim
index 7f35729..c3e7640 100644
--- a/ModularBot_garage/src/env_report.nim
+++ b/ModularBot_garage/src/env_report.nim
@@ -309,6 +309,12 @@ proc printEffectiveValues(ctx: EnvReportContext) =
   emit("TR_TFIL_RANGE_HI", $RangeHi, sourceOf("TR_TFIL_RANGE_HI"))
   emit("TR_TFIL_RANGE_TEMP", $RangeTemp, sourceOf("TR_TFIL_RANGE_TEMP"))
   emit("TR_TFIL_RANGE_K", $RangeK, sourceOf("TR_TFIL_RANGE_K"))
+  # j165: the ring fork's own arrival commitment (default off). RING-SPECIFIC
+  # names, so they can never be confused with the tfil mover's TR_TFIL_* pair.
+  emit("TR_TFIL_RING_COMMIT_ARRIVAL", onOff(TfilRingCommitArrival),
+       sourceOf("TR_TFIL_RING_COMMIT_ARRIVAL"))
+  emit("TR_TFIL_RING_NOREV_SPEED", $TfilRingNoRevSpeed,
+       sourceOf("TR_TFIL_RING_NOREV_SPEED"))
   emit("TR_TFIL_CORRIDOR_HEAT", $the_floor_is_lava_ring.CorridorHeat,
        sourceOf("TR_TFIL_CORRIDOR_HEAT"))
   emit("TR_TFIL_CORRIDOR_TICKS", $the_floor_is_lava.TfilCorridorTicks,
@@ -662,6 +668,7 @@ proc knownEnvNames*(): seq[string] =
     "TR_RAM_ABORT_DMG", "TR_RAM_PLAN", "TR_RAM_PLAN_DIST",
     "TR_RAM_PLAN_MARGIN", "TR_RAM_PLAN_HITRATE", "TR_RAM_LOG",
     "TR_TFIL_RANGE_LO", "TR_TFIL_RANGE_HI", "TR_TFIL_RANGE_TEMP",
+    "TR_TFIL_RING_COMMIT_ARRIVAL", "TR_TFIL_RING_NOREV_SPEED",
     "TR_TFIL_RANGE_K", "TR_TFIL_CORRIDOR_HEAT", "TR_TFIL_WALL_HOTNESS",
     "TR_TFIL_CORRIDOR_TICKS", "TR_TFIL_ARRIVE_TICKS",
     "TR_TFIL_HOLD_WHEN_TRAPPED", "TR_TFIL_HOLD_MAX_TICKS",
diff --git a/common_libs/movements/the_floor_is_lava_ring.nim b/common_libs/movements/the_floor_is_lava_ring.nim
index 2b88ded..583b2a2 100644
--- a/common_libs/movements/the_floor_is_lava_ring.nim
+++ b/common_libs/movements/the_floor_is_lava_ring.nim
@@ -49,6 +49,10 @@
 ##   TR_TFIL_CORRIDOR_HEAT default 10.0   lava per corridor-overlapping tile
 ##   TR_TFIL_WALL_HOTNESS  default 15.0   peak wall radiance at a wall tile
 ##   TR_MOVEMENT_LOG=1                    log band/range-class changes (not/tick)
+##   TR_TFIL_RING_COMMIT_ARRIVAL  default off  hold the committed tile until we
+##                                        are ON it (port of tfil's j144 fix)
+##   TR_TFIL_RING_NOREV_SPEED     default 0.0  px/tick; below this a mid-flight
+##                                        switch may not turn the bot around
 ## `TR_TFIL_RANGE_TEMP=0` calls plain `rand(candidates.high)` exactly as the
 ## original mover did, so the same binary can serve as the control arm.
 ##
@@ -141,6 +145,36 @@ proc loadTfilRingFireEnv*() =
   TfilRingFireFix = getEnvBool("TR_FIRE_FIX", true)
 loadTfilRingFireEnv()
 
+## ── j165: the ARRIVAL commitment, ported from `the_floor_is_lava.nim` ────────
+## Same BEHAVIOUR as tfil's `TR_TFIL_COMMIT_ARRIVAL` / `TR_TFIL_NOREV_SPEED`,
+## RING-SPECIFIC env names so the two forks never share a namespace by accident.
+## Both default OFF, so the default path stays byte-for-byte today's ring
+## (proved over the 20026-tick fixture replay in `test_tfil_commit_env.nim`).
+##   TR_TFIL_RING_COMMIT_ARRIVAL  0/1    hold the committed tile until we are
+##                                          ON it, instead of dropping the
+##                                          commitment on a tile crossing
+##   TR_TFIL_RING_NOREV_SPEED     float   while |speed| is below this, a
+##                                          mid-flight switch to the OPPOSITE
+##                                          side is refused (0 = off)
+const
+  RingArriveRadius* = 18.0   ## "we are on the committed tile" — the same 18px
+                            ## radius `the_floor_is_lava.nim` uses
+  RingHullTicks    = 50     ## the reachable-hull planning horizon (the literal
+                            ## 50 already passed to `computeReachableHull`
+                            ## below). Past it the committed target is no longer
+                            ## guaranteed reachable: the stall escape.
+
+var
+  TfilRingCommitArrival* = false
+  TfilRingNoRevSpeed*    = 0.0
+
+proc loadTfilRingCommitEnv*() =
+  ## Read the j165 knobs. Called once at module init; the guard test calls it
+  ## again after `putEnv` so the non-default arms run in one process.
+  TfilRingCommitArrival = getEnvBool("TR_TFIL_RING_COMMIT_ARRIVAL", false)
+  TfilRingNoRevSpeed    = max(0.0, getEnvFloat("TR_TFIL_RING_NOREV_SPEED", 0.0))
+loadTfilRingCommitEnv()
+
 const
   DefaultRangeLo   = 100.0
   DefaultRangeHi   = 200.0
@@ -240,6 +274,10 @@ type
     commitTarget:    tuple[x, y: float]   ## world coords of committed dodge point
     commitTicks:     int                   ## ticks remaining on commitment
     commitLava:      float                 ## lava at commit time (for spike detection)
+    commitAge:       int                   ## j165: ticks since the current target
+                                           ## was picked (0 = just picked)
+    picks:           int                   ## j165: picks made this round; > 0 means
+                                           ## a switch would be MID-FLIGHT
     blockedTile:     tuple[col, row: int; active: bool]  ## excluded from next pick after danger replan
     cachedHull:        seq[tuple[x, y: float]]
     cachedInsideTiles: seq[tuple[col, row: int]]
@@ -283,6 +321,8 @@ proc resetRound*(m: var TFILRingModule) =
   m.bullets           = @[]
   m.fire.reset()
   m.commitTicks       = 0
+  m.commitAge         = 0
+  m.picks             = 0
   m.cachedHull        = @[]
   m.cachedInsideTiles = @[]
   m.blockedTile       = (col: 0, row: 0, active: false)
@@ -462,6 +502,40 @@ proc computeReachableHull(x0, y0, heading0, speed0,
     if cur == startIdx: break
   hull
 
+proc ringTileOffTravel*(m: TFILRingModule, col, row: int,
+                        sx, sy, travelDeg: float): float =
+  ## Signed angle in degrees from the travel direction to the tile centre,
+  ## folded into (-180, 180]. Verbatim from `the_floor_is_lava.nim`'s
+  ## `tileOffTravel`; the ring's `ScoredTile` carries no `turnDeg`, so the
+  ## no-reversal pool computes the offsets itself.
+  let tx = m.marginX + (col.float + 0.5) * GridSize
+  let ty = m.marginY + (row.float + 0.5) * GridSize
+  result = arctan2(ty - sy, tx - sx) * 180.0 / PI - travelDeg
+  while result >  180.0: result -= 360.0
+  while result < -180.0: result += 360.0
+
+proc norevPool*(offs: openArray[float], threshold: float): seq[int] =
+  ## j165: which candidate tiles may a slow, mid-flight switch take? Verbatim
+  ## from `the_floor_is_lava.nim`. `offs` are the signed angles (deg) from the
+  ## travel direction to each candidate, `threshold` is the speed gate
+  ## (px/tick). Returns the indices NOT more than 90 deg off — the bot does not
+  ## have to turn around to reach them. If EVERY candidate is behind us the
+  ## reversal is unavoidable, so the single LEAST-bad one is returned (a shallow
+  ## turn, not a 180 deg flip): the result is NEVER empty, so the pick can never
+  ## be starved. `threshold <= 0` = the knob is off and every candidate stays.
+  if offs.len == 0: return
+  if threshold <= 0.0:
+    for i in 0..<offs.len: result.add i
+    return
+  var keep: seq[int]
+  for i, a in offs:
+    if abs(a) <= 90.0: keep.add i
+  if keep.len > 0: return keep
+  var best = 0
+  for i, a in offs:
+    if abs(a) < abs(offs[best]): best = i
+  @[best]
+
 proc computeMove*(m: var TFILRingModule, ws: WorldState): MoveCommand =
   if m.cols == 0:
     m.initGrid(ws.arenaWidth, ws.arenaHeight)
@@ -482,7 +556,13 @@ proc computeMove*(m: var TFILRingModule, ws: WorldState): MoveCommand =
       m.fire.prevEnergySet(ei.id, ei.energy)
 
   # Tile-change replan: catches gradual displacement that position threshold misses
-  if (not jumped) and (m.callCount > 0) and (m.commitTicks > 0):
+  # j165: with TR_TFIL_RING_COMMIT_ARRIVAL the SELF-tile crossing is exactly the
+  # event that must NOT cancel a commitment: crossing a boundary is the very
+  # motion the commitment commands, and at GridSize 36 / speed 8 it fires every
+  # ~5 ticks — which is precisely this fork's CommitTicks. Under the shipped
+  # default (arrival off) this is the original block verbatim.
+  if (not jumped) and (m.callCount > 0) and (m.commitTicks > 0) and
+     not TfilRingCommitArrival:
     let curTileCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
     let curTileRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
     if curTileCol != m.lastTileCol or curTileRow != m.lastTileRow:
@@ -756,22 +836,50 @@ proc computeMove*(m: var TFILRingModule, ws: WorldState): MoveCommand =
       safeTiles.add blockedTiles[i]
     blockedTiles = blockedTiles[promote ..< blockedTiles.len]
 
-  # Commitment logic
+  # Commitment logic. With every j165 knob at its default (both off) this is the
+  # original three-way test, unchanged. j165 adds one way OUT of a commitment
+  # that is NOT a tile crossing (the block above is skipped when armed) and turns
+  # the tick counter into a MINIMUM dwell: the target is held until we are
+  # actually standing on it.
+  let atTarget = (ws.selfX - m.commitTarget.x)^2 + (ws.selfY - m.commitTarget.y)^2 <
+                 RingArriveRadius * RingArriveRadius
   if m.commitTicks > 0:
-    # Only allow danger replan after MinCommitTicks have elapsed
+    inc m.commitAge
+    # Only allow a replan after MinCommitTicks have elapsed
     let ticksElapsed = CommitTicks - m.commitTicks
     if ticksElapsed >= MinCommitTicks:
       let (cc, cr) = m.tileAt(m.commitTarget.x, m.commitTarget.y)
       let curLava = m.lavaAt(cc, cr)
+      var commitEnd = false
       if curLava > m.commitLava + DangerReplanThreshold:
-        # Mark committed tile blocked so we don't re-pick it
+        # GENUINE DANGER: the committed tile got hot. Block it so we don't
+        # immediately re-pick it, and replan. This safety valve is deliberately
+        # independent of the arrival rule and is UNCHANGED by j165.
         m.blockedTile = (col: cc, row: cr, active: true)
-        m.commitTicks = 0  # replan
-      else:
+        commitEnd = true
+      elif TfilRingCommitArrival:
+        if atTarget:
+          # Reached. Only now is a new target allowed.
+          commitEnd = true
+        elif m.commitAge >= RingHullTicks:
+          # Stall escape: past the planner's own reachability horizon the
+          # committed tile is no longer guaranteed reachable (rammed, boxed in).
+          commitEnd = true
+      if not commitEnd:
         dec m.commitTicks
+        if m.commitTicks == 0 and TfilRingCommitArrival:
+          m.commitTicks = CommitTicks  # minimum dwell reached: renew, don't abandon
+      else:
+        m.commitTicks = 0
     else:
       dec m.commitTicks
 
+  # j165: was the commitment we are about to replace still UNREACHED? A pick
+  # that replaces a target we had not yet got to is the owner's failure mode:
+  # the bot is still accelerating and the target flips under it. `picks == 0`
+  # means this is the first pick of the round, which is not a switch at all.
+  let midFlight = m.picks > 0 and not atTarget
+
   if m.commitTicks == 0 and safeTiles.len > 0:
     # Filter out the blocked tile from candidates
     var candidates: seq[ScoredTile]
@@ -780,6 +888,22 @@ proc computeMove*(m: var TFILRingModule, ws: WorldState): MoveCommand =
         continue
       candidates.add t
     if candidates.len == 0: candidates = safeTiles  # all blocked → ignore block
+    # j165, no opposite-direction flip while still accelerating. Below the speed
+    # threshold the bot physically cannot complete a reversal before the bullet
+    # lands, so a mid-flight switch to the mirror side only destroys the dodge it
+    # already has. It is refused outright — and only for a MID-FLIGHT switch: if
+    # we are already standing on the committed tile (an arrival pick) the bot is
+    # free to go anywhere, and that is exactly the pick that must not be blocked.
+    if TfilRingNoRevSpeed > 0.0 and abs(ws.selfSpeed) < TfilRingNoRevSpeed and midFlight:
+      let travelDeg = if ws.selfSpeed < -0.01: ws.selfHeading + 180.0
+                      else: ws.selfHeading
+      var offs: seq[float]
+      for t in candidates:
+        offs.add ringTileOffTravel(m, t.col, t.row, ws.selfX, ws.selfY, travelDeg)
+      let keep = norevPool(offs, TfilRingNoRevSpeed)
+      var narrowed: seq[ScoredTile]
+      for i in keep: narrowed.add candidates[i]
+      candidates = narrowed
     # Safety is a HARD constraint: the weighting below only re-orders the draw
     # AMONG `candidates`, which is exactly the pool the old `rand` picked from.
     # It can never select a tile the unweighted code would have rejected
@@ -801,6 +925,8 @@ proc computeMove*(m: var TFILRingModule, ws: WorldState): MoveCommand =
                       y: m.marginY + (ct.row.float + 0.5) * GridSize)
     m.commitTicks  = CommitTicks
     m.commitLava   = m.lavaAt(ct.col, ct.row)
+    m.commitAge    = 0
+    inc m.picks
     m.blockedTile.active = false  # clear after successful pick
 
     # One concise log line on a range-class or band change (never per-tick).
diff --git a/common_libs/tests/fixtures/tfil_ring_commit_default.golden b/common_libs/tests/fixtures/tfil_ring_commit_default.golden
new file mode 100644
index 0000000..f1653f6
--- /dev/null
+++ b/common_libs/tests/fixtures/tfil_ring_commit_default.golden
@@ -0,0 +1,20031 @@
+# TFIL-RING default-path parity golden (j165).
+# Generated from the PRE-CHANGE ring mover (`git show HEAD:...`) with
+# every j165 knob UNSET, over the whole
+# tools/fixtures/tr_drussgt_vs_modularbot.jsonl replay.
+# Format: speed turnRate targetX targetY commitTicks
+8.0 3.314618156099873 490.0 210.0 5
+8.0 3.314618156099873 490.0 210.0 4
+8.0 6.67417398901945 490.0 210.0 3
+8.0 6.753606726217267 490.0 210.0 2
+8.0 6.83213607595269 490.0 210.0 1
+8.0 7.0 310.0 426.0 5
+8.0 6.25 310.0 426.0 4
+8.0 5.5 310.0 426.0 3
+8.0 4.75 310.0 354.0 5
+8.0 4.0 310.0 354.0 4
+8.0 4.0 310.0 354.0 3
+-8.0 -4.0 310.0 354.0 2
+-8.0 -4.0 310.0 354.0 1
+8.0 4.0 562.0 354.0 5
+8.0 4.0 562.0 354.0 4
+8.0 4.0 562.0 354.0 3
+8.0 4.0 562.0 354.0 2
+8.0 4.0 562.0 354.0 1
+8.0 4.0 490.0 318.0 5
+8.0 4.0 490.0 318.0 4
+8.0 4.0 490.0 318.0 3
+8.0 4.0 490.0 318.0 2
+8.0 4.0 526.0 246.0 5
+8.0 4.0 526.0 246.0 4
+8.0 4.0 526.0 246.0 3
+8.0 4.0 526.0 246.0 2
+8.0 4.0 526.0 246.0 1
+8.0 4.0 526.0 354.0 5
+8.0 4.0 670.0 390.0 5
+8.0 7.75 670.0 390.0 4
+8.0 9.625 670.0 390.0 3
+8.0 9.4375 670.0 390.0 2
+8.0 8.6875 670.0 390.0 1
+8.0 7.9375 670.0 282.0 5
+8.0 7.1875 670.0 282.0 4
+8.0 6.4375 670.0 282.0 3
+8.0 5.6875 598.0 282.0 5
+8.0 4.9375 598.0 282.0 4
+8.0 4.1875 598.0 282.0 3
+8.0 4.0 598.0 282.0 2
+8.0 4.0 598.0 282.0 1
+8.0 4.0 562.0 210.0 5
+8.0 4.0 562.0 210.0 4
+8.0 4.0 562.0 210.0 3
+8.0 1.9463070944070946 562.0 210.0 2
+8.0 -2.1204674146316957 562.0 210.0 1
+8.0 4.0 382.0 426.0 5
+8.0 4.0 382.0 426.0 4
+8.0 4.0 382.0 426.0 3
+8.0 4.0 382.0 426.0 2
+8.0 4.0 382.0 426.0 1
+8.0 7.75 418.0 426.0 5
+8.0 9.625 418.0 426.0 4
+8.0 9.4375 418.0 426.0 3
+8.0 8.6875 418.0 426.0 5
+8.0 9.90625 418.0 426.0 4
+8.0 9.15625 382.0 390.0 5
+-8.0 -8.40625 382.0 390.0 4
+-8.0 -7.65625 382.0 390.0 3
+-8.0 -6.90625 382.0 390.0 2
+-8.0 -6.15625 382.0 390.0 1
+8.0 5.40625 562.0 174.0 5
+8.0 4.65625 562.0 174.0 4
+8.0 4.0 562.0 174.0 3
+8.0 4.0 526.0 174.0 5
+8.0 7.75 526.0 174.0 4
+8.0 9.625 526.0 174.0 3
+8.0 9.4375 526.0 174.0 2
+8.0 8.6875 526.0 174.0 1
+8.0 7.9375 382.0 102.0 5
+8.0 7.1875 382.0 102.0 4
+8.0 6.4375 382.0 102.0 3
+8.0 5.6875 274.0 102.0 5
+8.0 4.9375 274.0 102.0 4
+8.0 1.6060322019141609 274.0 102.0 5
+8.0 -2.115077233387183 274.0 102.0 4
+8.0 -4.0 274.0 102.0 3
+8.0 -4.0 274.0 102.0 2
+8.0 -4.0 274.0 102.0 1
+8.0 4.0 490.0 174.0 5
+8.0 7.75 490.0 174.0 4
+8.0 9.625 490.0 174.0 3
+8.0 9.4375 490.0 174.0 2
+8.0 8.6875 490.0 174.0 1
+8.0 7.9375 526.0 210.0 5
+8.0 7.1875 526.0 210.0 4
+8.0 6.4375 526.0 210.0 3
+8.0 5.6875 526.0 210.0 2
+-8.0 -4.9375 202.0 174.0 5
+-8.0 -4.1875 202.0 174.0 4
+-8.0 -4.0 202.0 174.0 3
+-8.0 -7.75 202.0 174.0 2
+-8.0 -9.625 202.0 174.0 1
+8.0 6.280153301297833 418.0 210.0 5
+8.0 -2.3539836027907377 418.0 210.0 4
+8.0 -7.9375 418.0 210.0 3
+8.0 -7.1875 562.0 210.0 5
+8.0 -9.34375 562.0 210.0 4
+8.0 -9.578125 562.0 210.0 3
+8.0 -3.309758765779602 562.0 210.0 2
+8.0 4.793406270158348 562.0 210.0 1
+-8.0 -7.328125 94.0 210.0 5
+-8.0 -6.578125 130.0 210.0 5
+-8.0 -5.828125 94.0 210.0 5
+-8.0 -5.078125 94.0 210.0 5
+-8.0 -4.328125 94.0 210.0 4
+-8.0 -4.0 94.0 210.0 3
+-8.0 -4.0 94.0 210.0 2
+-8.0 -4.0 94.0 210.0 1
+-8.0 -4.0 94.0 210.0 5
+-8.0 -2.626335635634433 94.0 210.0 4
+-8.0 1.1568752416927168 94.0 210.0 3
+-8.0 4.0 94.0 210.0 2
+8.0 4.0 382.0 282.0 5
+8.0 4.0 382.0 282.0 4
+-8.0 -4.0 310.0 390.0 5
+-8.0 -4.0 310.0 390.0 4
+-8.0 -4.0 310.0 390.0 3
+-8.0 -4.0 310.0 390.0 2
+-8.0 -4.0 382.0 354.0 5
+-8.0 -7.75 382.0 354.0 4
+-8.0 -9.625 382.0 354.0 3
+8.0 9.4375 382.0 354.0 2
+8.0 8.6875 382.0 354.0 1
+8.0 7.9375 382.0 354.0 5
+8.0 7.1875 382.0 354.0 4
+8.0 6.4375 382.0 354.0 3
+8.0 5.6875 454.0 354.0 5
+8.0 8.59375 418.0 354.0 5
+8.0 9.953125 418.0 354.0 4
+8.0 9.203125 382.0 354.0 5
+8.0 9.6484 382.0 354.0 4
+8.0 -8.8984 490.0 102.0 5
+8.0 -4.934138141119661 490.0 102.0 4
+8.0 2.414882601922784 490.0 102.0 3
+8.0 4.0157535307885155 490.0 102.0 2
+8.0 4.236809128349989 490.0 102.0 1
+8.0 4.341327668272811 490.0 102.0 5
+8.0 4.3984000000000005 490.0 102.0 4
+8.0 4.0 526.0 318.0 5
+8.0 4.0 526.0 318.0 4
+8.0 4.0 526.0 318.0 3
+8.0 4.0 526.0 318.0 2
+8.0 4.0 526.0 318.0 1
+8.0 4.0 454.0 390.0 5
+8.0 7.75 454.0 390.0 4
+8.0 9.625 454.0 390.0 3
+8.0 9.4375 454.0 390.0 2
+8.0 8.6875 454.0 390.0 1
+8.0 7.9375 454.0 426.0 5
+8.0 7.1875 454.0 354.0 5
+8.0 6.4375 454.0 354.0 4
+8.0 5.6875 454.0 354.0 3
+8.0 4.9375 454.0 354.0 2
+8.0 4.1875 454.0 354.0 1
+8.0 4.0 490.0 318.0 5
+8.0 4.0 418.0 246.0 5
+8.0 4.0 418.0 282.0 5
+8.0 7.75 418.0 282.0 4
+8.0 9.625 418.0 282.0 3
+8.0 9.4375 418.0 282.0 2
+8.0 8.6875 418.0 282.0 1
+8.0 7.9375 418.0 282.0 5
+8.0 7.1875 526.0 318.0 5
+8.0 6.4375 526.0 318.0 4
+8.0 5.6875 526.0 318.0 3
+8.0 4.9375 526.0 318.0 2
+8.0 4.1875 526.0 318.0 1
+8.0 4.0 526.0 210.0 5
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diff --git a/common_libs/tests/test_tfil_commit_env.nim b/common_libs/tests/test_tfil_commit_env.nim
index 5808d86..bc9bee8 100644
--- a/common_libs/tests/test_tfil_commit_env.nim
+++ b/common_libs/tests/test_tfil_commit_env.nim
@@ -42,6 +42,10 @@ import std/strutils except fromHex   # `fromHex` would clash with color.fromHex
 import gun_harness/gun_interface
 # Private-field access: include (do NOT import) the shipped mover.
 include movements/the_floor_is_lava
+# j165: the TFIL-RING fork's arrival commitment. `tfil_ring_replay` includes
+# the ring mover (for its PRIVATE commitTarget/commitTicks) and re-exports it,
+# so this is the only ring import the guard needs.
+import tfil_ring_replay
 
 const repoRoot   = currentSourcePath().parentDir.parentDir.parentDir
 const fixtureRel = "tr_drussgt_vs_modularbot.jsonl"
@@ -1479,6 +1483,130 @@ proc testJ154() =
   check "j154: clearing the knob restores today's behaviour exactly",
         TfilHoldMaxTicks == 0
 
+# ── j165: the TFIL-RING arrival commitment (TR_TFIL_RING_*, default OFF) ─────
+# The same two mechanisms ported from `the_floor_is_lava.nim` (j144) onto
+# RING-SPECIFIC env names, so the two forks never share a namespace by
+# accident. What must hold, and nothing more:
+#   1. DEFAULT PARITY: with both knobs unset the ring mover is byte-for-byte
+#      the PRE-CHANGE ring mover over the whole fixture replay.
+#   2. the arrival commitment ENGAGES: the committed target is actually
+#      REACHED far more often, and there are strictly fewer mid-flight
+#      re-targets than the shipped fixed 5-tick dwell.
+#   3. the no-reversal pool is SPEED-GATED: the stream may only diverge from
+#      the unarmed build on a tick whose |selfSpeed| is below the gate, and the
+#      pool itself can never be emptied.
+when declared(TfilRingCommitArrival):
+
+  proc ringRunStats(): tuple[picks, reached: int] =
+    ## Count picks over the replay and how many of them REPLACED a target the bot
+    ## had actually stood on (< 18px, the same arrival radius the mover uses).
+    ## Under a fixed dwell this is rare: the target is replaced mid-flight.
+    randomize(Seed)
+    var m = initTFILRing()
+    let states = loadStates()
+    let starts = loadRoundStarts()
+    var prev = (x: 0.0, y: 0.0)
+    var hadPick = false
+    for i in 0..<states.len:
+      if i == 0 or i in starts:
+        m.resetRound()
+        hadPick = false
+      let ws = states[i]
+      let before = ringPicks(m)
+      discard m.computeMove(ws)
+      if ringPicks(m) != before:
+        inc result.picks
+        if hadPick and
+           sqrt((ws.selfX - prev.x)^2 + (ws.selfY - prev.y)^2) < RingArriveRadius:
+          inc result.reached
+        prev = ringTarget(m)
+        hadPick = true
+
+  proc testJ165() =
+    doAssert fileExists(RingGoldenPath), "missing golden: " & RingGoldenPath
+    let recs = replayRing()   # both knobs unset; the shipped fire detector, as
+                              # the golden was generated
+    var golden: seq[string]
+    for rawLine in lines(RingGoldenPath):
+      if rawLine.startsWith("#"): continue
+      let line = rawLine.strip()
+      if line.len > 0: golden.add line
+    check "j165: ring golden covers the whole fixture (>= 15000 ticks)",
+          golden.len >= 15000
+    check "j165: the unset replay covers the same number of ticks",
+          recs.len == golden.len
+    var firstDiff = -1
+    for i in 0..<min(recs.len, golden.len):
+      if ringRecLine(recs[i]) != golden[i]:
+        firstDiff = i
+        break
+    check "j165: BOTH KNOBS UNSET IS BYTE-FOR-BYTE THE PRE-CHANGE RING MOVER " &
+          "(speed/turnRate/target/commitTicks) over " & $recs.len & " ticks",
+          firstDiff < 0
+    if firstDiff >= 0:
+      echo "  first divergence at tick index ", firstDiff, ": got [",
+           ringRecLine(recs[firstDiff]), "] want [", golden[firstDiff], "]"
+
+    delEnv("TR_TFIL_RING_COMMIT_ARRIVAL")
+    delEnv("TR_TFIL_RING_NOREV_SPEED")
+    loadTfilRingCommitEnv()
+    check "j165: both knobs DEFAULT OFF with the env deleted",
+          (not TfilRingCommitArrival) and TfilRingNoRevSpeed == 0.0
+    putEnv("TR_TFIL_COMMIT_ARRIVAL", "1")   # tfil's names must NOT leak across
+    putEnv("TR_TFIL_NOREV_SPEED", "9")
+    loadTfilRingCommitEnv()
+    check "j165: the env names are RING-SPECIFIC — tfil's " &
+          "TR_TFIL_COMMIT_ARRIVAL / TR_TFIL_NOREV_SPEED leave ring untouched",
+          (not TfilRingCommitArrival) and TfilRingNoRevSpeed == 0.0
+    delEnv("TR_TFIL_COMMIT_ARRIVAL")
+    delEnv("TR_TFIL_NOREV_SPEED")
+
+    # 2. the arrival commitment engages
+    let off = ringRunStats()
+    TfilRingCommitArrival = true
+    let on = ringRunStats()
+    TfilRingCommitArrival = false
+    check "j165: ARRIVAL ENGAGES — a committed target is actually REACHED on " &
+          $on.reached & "/" & $on.picks & " picks, vs " & $off.reached & "/" &
+          $off.picks & " on the shipped fixed 5-tick dwell",
+          on.picks > 0 and (on.reached.float / on.picks.float) >
+                              (off.reached.float / off.picks.float)
+    check "j165: ... and it holds instead of re-targeting mid-flight: " &
+          $on.picks & " picks vs " & $off.picks & " on the same replay",
+          on.picks < off.picks
+
+    # 3. the no-reversal pool is speed-gated, and can never be emptied
+    check "j165: norevPool with the gate off returns EVERY candidate",
+          norevPool(@[10.0, 120.0, -170.0], 0.0) == @[0, 1, 2]
+    check "j165: norevPool armed keeps only the non-reversing candidates",
+          norevPool(@[10.0, 120.0, -170.0], 4.0) == @[0]
+    check "j165: norevPool never empties — all-behind falls back to the least bad",
+          norevPool(@[170.0, 150.0, 179.0], 4.0) == @[1] and
+          norevPool(@[170.0, 179.0], 4.0).len > 0
+    # Engine gate: the streams can only DIVERGE at a gated pick. (Divergence
+    # then persists for many ticks — a different target steers differently — so
+    # "every diverging tick is slow" is the wrong claim; "the FIRST divergence
+    # is a slow-tick pick" is the right one.)
+    TfilRingNoRevSpeed = 4.0
+    let armed = replayRing()
+    TfilRingNoRevSpeed = 0.0
+    var nDiv = 0
+    var firstArmed = -1
+    for i in 0..<min(recs.len, armed.len):
+      if ringRecLine(recs[i]) != ringRecLine(armed[i]):
+        inc nDiv
+        if firstArmed < 0: firstArmed = i
+    let states = loadRingStates()
+    check "j165: the no-reversal treatment APPLIES (gate 4.0 changes " & $nDiv &
+          " of " & $recs.len & " ticks — an A/B whose treatment never fires is worthless)",
+          nDiv > 0
+    check "j165: ... and it is SPEED-GATED: the first divergence (tick " &
+          $firstArmed & ") is a PICK made at |selfSpeed| = " &
+          $(if firstArmed >= 0: abs(states[firstArmed].selfSpeed) else: -1.0) &
+          " < 4.0",
+          firstArmed >= 0 and armed[firstArmed].picked and
+          abs(states[firstArmed].selfSpeed) < 4.0
+
 # ── driver ───────────────────────────────────────────────────────────────────
 
 testDefaultParity()
@@ -1494,6 +1622,8 @@ when declared(loadTfilCommitEnv):
   testJ150()
   testJ154()
   testJ153()
+  when declared(TfilRingCommitArrival):
+    testJ165()
 
 if failures > 0:
   echo "\n", failures, " check(s) FAILED"
diff --git a/common_libs/tests/tfil_ring_replay.nim b/common_libs/tests/tfil_ring_replay.nim
new file mode 100644
index 0000000..a75f49f
--- /dev/null
+++ b/common_libs/tests/tfil_ring_replay.nim
@@ -0,0 +1,109 @@
+## Fixture replay for the TFIL-RING mover (`movements/the_floor_is_lava_ring.nim`).
+##
+## It `include`s the mover (not `import`s it) so the replay can read the
+## private `commitTarget` / `commitTicks` — the same reason
+## `test_tfil_commit_env.nim` includes `the_floor_is_lava.nim`. Living in its
+## OWN module keeps those privates in this module's scope, so a file that
+## includes BOTH movers still compiles (there is no name clash between them:
+## this one only sees ring's).
+##
+## `--path:common_libs` relative to the repo root.
+##
+## GOLDEN GENERATION (j165 default parity). Compile this file with the golden
+## flag against the PRE-CHANGE ring, e.g. from a `git show HEAD:...` tree:
+##
+##   TFIL_RING_GOLDEN_OUT=<path> \
+##     nim c -r --path:. -d:tfilRingGenGolden common_libs/tests/tfil_ring_replay.nim
+##
+## Nothing here references a j165 symbol, so the SAME file generates the golden
+## on the pre-change mover and checks it on the post-change one. Regenerating
+## the golden from the new code would defeat the check — only do that after a
+## DELIBERATE change to the ring defaults.
+
+import std/[os, json, random, math]
+import std/strutils except fromHex
+import gun_harness/gun_interface
+include movements/the_floor_is_lava_ring
+
+const
+  Seed       = 20250923        ## same seed as the tfil replay: comparable arms
+  ArenaW     = 800.0
+  ArenaH     = 600.0
+  fixtureRel = "tr_drussgt_vs_modularbot.jsonl"
+
+const RingGoldenPath* = currentSourcePath().parentDir / "fixtures" /
+                        "tfil_ring_commit_default.golden"
+
+type RingTickRec* = object
+  spd, trn: float               ## the emitted MoveCommand
+  tx, ty:  float               ## where we are steering to
+  ct:      int                 ## ticks left on the commitment
+  picked*: bool                ## this tick made a NEW pick (not in the golden)
+
+# Thin accessors for the mover's PRIVATE per-round state. The guard needs them
+# to measure what the commitment did; the mover's own API stays unchanged.
+proc ringPicks*(m: TFILRingModule): int = m.picks
+proc ringTarget*(m: TFILRingModule): tuple[x, y: float] = m.commitTarget
+
+proc ringRecLine*(r: RingTickRec): string =
+  $r.spd & " " & $r.trn & " " & $r.tx & " " & $r.ty & " " & $r.ct
+
+proc loadRingStates*(): seq[WorldState] =
+  let path = currentSourcePath().parentDir.parentDir.parentDir / "tools" /
+             "fixtures" / fixtureRel
+  for rawLine in lines(path):
+    let line = rawLine.strip()
+    if line.len == 0: continue
+    let n = parseJson(line)
+    if n.hasKey("meta") or n.hasKey("end"): continue
+    let ex = n["ex"].getFloat()
+    let ey = n["ey"].getFloat()
+    result.add WorldState(
+      enemyX: ex, enemyY: ey,
+      enemyHeading: n["eh"].getFloat(), enemySpeed: n["es"].getFloat(),
+      enemyEnergy: n["ee"].getFloat(),
+      selfX: n["sx"].getFloat(), selfY: n["sy"].getFloat(),
+      selfHeading: n["sh"].getFloat(), selfSpeed: n["ss"].getFloat(),
+      selfEnergy: n["se"].getFloat(),
+      arenaWidth: ArenaW, arenaHeight: ArenaH,
+      tick: n["tick"].getInt(),
+      enemies: @[EnemyInfo(id: 1, x: ex, y: ey,
+                           heading: n["eh"].getFloat(), speed: n["es"].getFloat(),
+                           energy: n["ee"].getFloat())])
+
+proc loadRingStarts*(): seq[int] =
+  let side = currentSourcePath().parentDir.parentDir.parentDir / "tools" /
+             "fixtures" / "drussgt_meta" / (fixtureRel & ".rounds.json")
+  if not fileExists(side): return
+  for r in parseFile(side)["rounds"]:
+    result.add r["startTick"].getInt()
+
+proc replayRing*(): seq[RingTickRec] =
+  ## Drive the REAL ring `computeMove` over the recorded WorldState stream with a
+  ## fixed seed, touching no env knob. With every j165 knob unset this is the
+  ## pre-change code path exactly.
+  randomize(Seed)
+  var m = initTFILRing()
+  let states = loadRingStates()
+  let starts = loadRingStarts()
+  for i in 0..<states.len:
+    if i == 0 or i in starts: m.resetRound()
+    let before = m.picks
+    let cmd = m.computeMove(states[i])
+    result.add RingTickRec(spd: cmd.speed, trn: cmd.turnRate,
+                           tx: m.commitTarget.x, ty: m.commitTarget.y,
+                           ct: m.commitTicks, picked: m.picks != before)
+
+when isMainModule and defined(tfilRingGenGolden):
+  block:
+    let recs = replayRing()
+    let outPath = getEnv("TFIL_RING_GOLDEN_OUT", RingGoldenPath)
+    var g = "# TFIL-RING default-path parity golden (j165).\n"
+    g.add "# Generated from the PRE-CHANGE ring mover (`git show HEAD:...`) with\n"
+    g.add "# every j165 knob UNSET, over the whole\n"
+    g.add "# tools/fixtures/tr_drussgt_vs_modularbot.jsonl replay.\n"
+    g.add "# Format: speed turnRate targetX targetY commitTicks\n"
+    for r in recs: g.add ringRecLine(r) & "\n"
+    createDir(outPath.parentDir)
+    writeFile(outPath, g)
+    echo "wrote ", outPath, " (", recs.len, " ticks)"