Action comes from a accepting offers. When an offer comes to you you can accept it or block it. Blocking it kills the action. Accepting it moves it forward. When we are working in complexity, waiting for the failsafe plan leads to inaction because there are more blocks than acceptances. In contast diving into a safe fail mindset means committing to action and refining it as you go.
This is the essence of improvisation: accept, commit, develop, offer. A simple four stage cycle for action planning