Shameless plug here: I'm building a coding agent that kicks smaller models on track again if they misbehave. E.g. I noticed that qwen-3.8-27b often writes an intend but then stops and hands the turn back to the user. This is why I implemented lots of "nudges" and paired with a goal mode (and maybe autopilot) does wonders.

Here are some examples: https://caudra.ai/gallery/#nudges