Finding these optimization opportunities can itself be a significant undertaking. It requires end-to-end understanding of the spec to identify which behaviors are observable and which can safely be elided. Even then, whether a given optimization is actually spec-compliant is often unclear. Implementers must make judgment calls about which semantics they can relax without breaking compatibility. This puts enormous pressure on runtime teams to become spec experts just to achieve acceptable performance.
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The ultimate goal, she says, is robots that are far more "graceful" than those of today. "Robots […] have this clunkiness and heaviness," she says, "which is so different from the way we move."