1) The following instructions seem to be difficult for the robot to follow: 7 - Rotate point of contact between I-affector and object, about axis defined by line passing through points of contact of M and T affectors (with object), by an angle such that P-axis lies at perpendicular distance of r from source point. 13 - Applying pressure of 2psi, along -ve Z-axis - trace locus defined by image/characters to be written on the plane of the paper, using Move function for each image/character. The instruction does not provide a concrete definition of the axis of rotation. Since no mention is made to the different properties of the pencil (mass, size, outer shape -- which are subject to a great variation), angular speed of the required rotation, the torque required is thus in ambiguity (and so is the necessary force). Such things might be figured out by trial and error and reinforcement learning. Besides, the dense spread of sensors on the finger tips of humans is unmatched.
2) The Positions and orientations that are initialized from a kinesthetic demonstration of the task form the explicit learning of the task. They provide external information about the environment. These instructions (say, the door handle is located at 10 units, rotate 10 degrees) can be interpreted and executed, ensuring a good success rate. However, the force/torque application is learnt implicitly, over reinforcement. The explicit instructions form a set of chunks themselves (go to point A, then rotate 90 degrees). The implicit learning might form chunks based on the division of the task into sub tasks. Example, after the handle is held, rotate it to bring it into unlock position - might be treated as a chunk, a subtask a part of which is implicitly learned. The next chunk in that case would be, now pull the door open.
3) Perhaps the human mind is similar to the reinforcement learning at a very low level. However, one is able to attach higher order symbols to such results learnt and relate to similar results without having to undergo the exact experience as such. For example, a fire-fighter, in his training, learns (by reinforcement) to estimate different parameters of the environment as stimuli, and the appropriate response to them (say, how long a ditch is and how much force is required for him to leap across it). However, he is able to venture into a new terrain by following explicit instruction of a higher order (there's a baby on the second floor, to the right of the door in the crib) - he might have never known such a combination of situation and yet he overlaps his learning based on these instructions over those he learnt implicitly (help him make his way).