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commit()/progress()/note() now refresh last_heartbeat_at on the success path (best-effort, suppressed), not only on rejection — an actively writing agent no longer looks idle to the reaper between verb successes. commit()/progress() verify the caller holds the active claim (active_claimant_id), not merely the historical assigned_to, so a reaped or handed-off assignee can no longer write onto a freed task; a non-holder gets a not_authorized envelope with a clear remediate. progress() with no plan_step on a task that has steps is accepted (product decision for narrative mid-step updates) and logs a soft warning instead of rejecting.