Intelligence, incremental/online learning and autonomy are the things that need to be solved before these would be capable of general tasks in an unstructured s

Intelligence, incremental/online learning and autonomy are the things that need to be solved before these would be capable of general tasks in an unstructured setting (e.g. domestic use). I seriously doubt we'll ever see humanoid form factor robots used in a domestic setting, and even in a factory setting the form factor is basically a gimmick. Why does a factory robot need (or want!) legs when an upper torso on a wheeled base would do the job better?!