I consider the abstract a strawman. By far the largest number of robots deployed are non human 3 (or more) axis single arm, or the less complex but still unhuman interchangeable head multi axis NMC tools. The assumption of humanoid appears to me to be bogus from the get-go.

Humanoid robots are a self imposed goal, for many people it means substitution of a robot into human centric work.

Most of Amazon and other warehouse robots are grid traversal stackers. It's a shunting yard in 3 dimensions.