Liability issues will exist regardless of whether compute is on-device or central.
However, if the robot is in a contained environment like a home, there is less third party liability than for something like vehicles. Not none, of course, but less. And when you can get your arms around third party liability, first party liability can be better controlled by contractual agreements.
In general I expect on-device motor execution will allow it to safely come to a stop or enter a safe position if it loses the link to the execution planning cloud model.
However, if the robot is in a contained environment like a home, there is less third party liability than for something like vehicles. Not none, of course, but less. And when you can get your arms around third party liability, first party liability can be better controlled by contractual agreements.
In general I expect on-device motor execution will allow it to safely come to a stop or enter a safe position if it loses the link to the execution planning cloud model.