Here’s a quick little hit with Loot. Working on proper vault timing. Notice that the disc is in position before he has left the ground. Loot made one decision, from the ground, to go get this disc:
If the disc is thrown for the vault after the dog leaves the ground he leaves the ground without any intelligence on disc placement. If the disc is not placed perfectly then a secondary plan is required. This secondary plan, Plan B, is a reactive plan and can cause mechanical, performance, and safety issues.