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fix(avoidance): improve avoidance safety check logic (#6974) #10990

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fix(avoidance): improve avoidance safety check logic (#6974)

fix(avoidance): improve avoidance safety check logic (#6974) #10990

Run time

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Job Run time
build-and-test (humble)
4h 1m 30s
build-and-test (humble, -cuda)
4h 5m 58s
8h 7m 28s