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I am not sure these will become mainstream soon. I think they will be too expensive and too much of a toy in the beginning. When it comes to daily tasks other robots are better equipped to do these tasks, since they have a higher level of specialization.
For example roombas. While I can see a humanoid robot vacuuming, a roomba is better equipped for the job, I assume uses less power than a humanoid and vacuum cleaner running at the same time.
When talking about humanoid robots as social contacts, I'm sure there will be wealthy and lonely people buying them for that purpose.
Then there's replacing workers in dangerous jobs like construction, metal production etc. I think it is more sensible to develop and use specialized robots in these fields.