It's not obvious, don't worry!
The problem with allowing the exhaust valves to keep opening and closing (they can't stay open all the time because they'd hit the pistons) is easiest to visualise with a syringe-which is basically a piston in a cylinder just like an engine.
If you take a syringe with the plunger fully pressed in and put your finger over the nozzle, and try to pull the plunger out, it takes a surprising amount of force to create the vacuum in the syringe.
If you let go of the plunger with your finger over the nozzle, atmospheric pressure pushes the plunger back to where it started. Ie we recover the work that we put in. This is a reversible process ie there is no net energy penalty.
But, if you take your finger off the nozzle before letting go of the plunger, the vacuum is destroyed and the plunger stays out. You can not recover the work that you expended pulling the plunger out. This is an irreversible process, ie there is an energy penalty. This is what a pumping loss is.
The finger over the nozzle is an exact anology of the exhaust valve. Exhaust valves open when the piston is near bottom dead centre and close near top dead centre. If the exhaust valve opens when there is a vacuum in the cylinder, there is a pumping loss.
To avoid pumping losses, the valves are kept closed so that there is no movement of gas in and out of the cylinder.
Now maybe you can reciprocate! I don't understand how mild hynrids work. Can you explain?
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