As in, an expectation-free hug with your partner. Doing something without expecting anything in return, but not necessarily selfless. I hoped "nonexpecting" was a word, but it seems reserved for pregnancy 🙂
EDIT: Thanks for the suggestions! My example may not have been the best. I don't mean necessarily platonic or friendly, because the attitude can apply to anything. I've heard the words "wishless" and "hopeless" in some Buddhist contexts, interestingly, but those seem wonky as well.