Comment by grues-dinner

And it's a nice problem to solve with AI of many kinds because you can forward-solve the kinematic solution and check for "hallucinations": collisions, exceeding acceleration limits, etc. If your solution doesn't "pass", generate another one until it does. Then grade according to "efficiency" metrics and feed it back in.

As long as you do that, the penalty for a a slop-based fuckup is just a less efficient toolpath.