Methods and apparatus related to robot collision avoidance. One method may include: receiving robot instructions to be performed by a robot; at each of a plurality of control cycles of processor(s) of the robot: receiving trajectories to be implemented by actuators of the robot, wherein the trajectories define motion states for the actuators of the robot during the control cycle or a next control cycle, and wherein the trajectories are generated based on the robot instructions; determining, based on a current motion state of the actuators and the trajectories to be implemented, whether implementation of the trajectories by the actuators prevents any collision avoidance trajectory from being achieved; and selectively providing the trajectories or collision avoidance trajectories for operating the actuators of the robot during the control cycle or the next control cycle depending on a result of the determining.