What problem does it solve? Developing a robot localization module requires disciplined, one-change-at-a-time iteration with benchmark evidence, but ad-hoc tuning loses causal traceability and risks corrupting the evaluation oracle. This Skill enforces a structured pair-mode development cycle so every change is hypothesized, smoke-tested, analyzed from plots, and journaled. ## Core Features & Use Cases - Resume-safe orientation: Reconstructs candidate state purely from disk (README, JOURNAL tail, latest run report) so a killed session can be picked up without prior context. - Single-change discipline: Proposes exactly one config value or code fix per cycle, runs the locbench smoke grind, and analyzes report.json plus trajectory plots to name the failure mode. - Human decision gate: Stops at the improve/pivot/abandon verdict for the human operator, then journals the decision and commits one iteration per commit. - Use Case: A robotics engineer says "iterate rtabmap" to run one full benchmark cycle on the rtabmap localization candidate, getting a smoke-run report, plot-based failure analysis, and a journaled decision. ## Quick Start Ask the assistant to run a loc-iterate cycle on an existing localization candidate, for example by saying "iterate rtabmap" or "run a locbench cycle on <name>".