In what ways did the Romans coerce the slaves into hard labor?

In ancient Rome, slaves had no rights, their labor was not paid, and they were treated like animals. It was the slaves who did the hardest work. But, of course, they did not want to do this, since they need to do the hardest and dirtiest work for free. For the slaves to do the work, physical force was applied to them. That is, the slaves do not like being beaten – they work worse. To make them work better, they are beaten again. Therefore, slavery after a while began to be eradicated and people were paid for their work and were not tortured.