I think the recent moves in game playing AI (e.g. AlphaGo, Pluribus) are beginning to bridge that gap. Specifically, the use of concrete tree search algorithms

I think the recent moves in game playing AI (e.g. AlphaGo, Pluribus) are beginning to bridge that gap. Specifically, the use of concrete tree search algorithms (e.g. MCTS, Minimax) combined with neural networks to intelligently guide the search. I suspect this sort of algorithm will be applied to robot manipulation in the next couple of years, and would be extremely surprised if DeepMind et al weren't already working on it.