Trying to prescribe every maneuver means anticipating how the robot should respond as contacts and obstructions change. A two-finger gripper may also need solutions quite different from those that come naturally to a human hand.

Perhaps the answer is to stop telling the robot how we think the task should be done, and let it learn how to get there. We give it a binary task reward for success and train it through vast amounts of diverse experience. That leaves room for the robot to discover solutions we might never have thought to teach.