I think general purpose robots are at least 3+ years out.
There were demo videos of self-driving cars in 2016 that made people go "OMG, Level-5 autonomous vehicles next year! Sell your taxi license!"
We are 10 years later and we still don't have L5 autonomous vehicles.
The networks in those car demos were trained by imitation learning. The same method is used to train those humanoid robots, which is why they need insane amounts of human demonstration data.
We now have billions of hours of training data for cars, and we still don't have L5 AV.
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