safe
IMPACT, intelligent motion planning with acceptable contact. A motion planner for robots in clutter that decides what is safe to touch.
The definition
What everyone assumes: Safe means don't touch anything. Corrected to: Safety is a property of the object and the direction, not of contact itself. A vision-language model assigns semantic cost per object, those costs feed an anisotropic cost map encoding how safe a push is from a given direction, and a contact-aware A* plans over motion primitives.
Where it broke. A planner that refuses all contact refuses to move. On a full shelf every path touches something, so the safe policy and the useless policy are the same policy.