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It can be done in two complete trips. The first trip requires two switches flipped on and the lights noted. The light that isn't on belongs to the unflipped switch.
The second trip requires that one of the two flipped switches be unflipped.
The remaining light belongs to the flipped switch and the other light (that was previously on) belongs to the recently unflipped switch.
The second trip requires that one of the two flipped switches be unflipped.
The remaining light belongs to the flipped switch and the other light (that was previously on) belongs to the recently unflipped switch.