Various aspects of techniques, systems, and use cases include robot safety. A device in a network may include processing circuitry and memory including instructions, which when executed by the processing circuitry, cause the processing circuitry to perform operations. The operations may include collecting telemetry data for a robot, the robot operating according to a path control plan generated using reinforcement learning with a safety factor as a reward function, and detecting that a safety event, involving a robot action, has occurred with the robot and an object. The operations may include simulating a recreation of the safety event to determine whether a simulated action matches the robot action.