I came into Connect thinking "This is really powerful. This is really good."  I came out of it wondering what exactly I'd learned. Robin and Bradford are two of the minds behind one of the most popular courses at the Stanford Business School, Interpersonal Dynamics, loving referred to as "touchy-feely". 

The idea is that a lot of relationships we have are shallow and not particularly satisfying. We can have better ones by being authentic, vulnerable, and not making assumptions about what other people are feeling.  The examples, using both invented dialog and the author's experiences, are quite good.  Issues include being talked over at work, marriages that are floundering on changes in career and parenting, aging parents who prefer solutions to emotional openness, and friendships that are on the rocks due to life changes.  

I think the key points are not to let emotional 'pinches' build into crises, and to stay on your side of the net and not make assumptions about other's motivations. It's good advice, but hard to apply in a real world where your own emotions are unclear, others can be predatory, and the need to save face is constant.