Why Decouple Reasoning from Motor Control General-purpose robots have to pull off two very different jobs at once. They need to read a cluttered, full-room visual scene, hold a multi-minute plan in memory, and converse with a person — and, in the same instant, close a high-frequency control loop that keeps a balancing humanoid upright and moves a delicate hand without dropping whatever it holds. Cramming both jobs into a single end-to-end network forces uncomfortable trade-offs: the large co...