During December 2024, Cafer Abdi focused on improving collision-check reliability in the moveit/moveit2 repository by addressing stale data issues in the Allowed Collision Matrix. He implemented a fix in C++ that ensures ACM entries are properly removed when collision objects are deleted from the planning scene, preventing outdated information from affecting future collision checks. To validate this solution, he added a regression test that verifies ACM cleanup behavior during object deletion. Drawing on his expertise in collision detection, motion planning, and robotics, Cafer’s work enhanced the robustness of dynamic environment planning by maintaining data consistency and reducing false collision results.