If we'd ever really try to do humanoid robotics, ones that interact with an environment made for humans in the way it's intended to be interacted with, this could actually be very valuable: imitate the general movement to quickly get the general action plan, use live feedback loops and simulation for the details. Basically like a child learns, but with one part in the cloud hivemind.

Without that, you have a much bigger solution space to search for the optimal approach. And you likely wouldn't even want that optional solution anyways: if your humanoid robots have sufficiently strong actors, optional solution for, to pick a simple example, navigating a staircase would likely be vertically scaling up the handrails through the slot in the middle. That might save staircase capacity and a tiny amount of battery (better aerodynamics!) but it would certainly ruin any humanoid qualities.