Yep, there's a giant pile of training (and inference) that has yet to be done because we've barely touched real-world data (audio, visual and tactile). GPT-4 already demo'd a multimodal version, and I don't see a reason why GPT-N won't be able to seamlessly work on video and tactile input and output actuator commands. I also don't see a reason why humanoid bodies would cost more than a car.

Maybe people don't realize how low the bar for mass-adoption is? We're kinda mesmerized by Boston Dynamics' Parkourbot, but the real-world is made for people of many different abilities, you don't need to do summersaults, or run, or lift a lot to be able to do useful work. A $30k robot with a lifespan of 8 years would cost $10/day. $10 is very little money for in-your-house work, being able to do basic cleanup will be worth it for a vast number of households.