If there were some highly effective and rapid communication system, for example, the slaves could possibly organize and GTFO before their owners had any way to stop them. Yes, there's the chance that it could turn bloody, but I can imagine scenarios where it might end peacefully (as far as one can imagine such a hypothetical).
Slaves are either compliant or tortured for not being compliant. That's why slavery is so brutal; if your owner doesn't beat you, he'll either kill you or sell you to someone who will. There's really no other option for dealing with a slave who refuses to obey. (And I don't see how a compliant slave can help end slavery.)
> I can imagine scenarios where it might end peacefully
How? People who legally own slaves aren't going to just let their slaves walk away anymore than any company now is going to let their employees walk away with all their profits.
This isn't just about slavery: it could apply to any war-like situation. But if you aren't being beaten as a slave, how are you resisting slavery? Your owner just lets you get away with not doing what you're told?
Because I really don't see how not resisting is supposed to end slavery, and I don't see how avoiding beatings is any kind of resistance.