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https://physicalintelligence.company is working on this – see a demo where their robot does ~exactly what you said, I believe based on a "generalist" model (not pretrained on the tasks): https://www.youtube.com/watch?v=J-UTyb7lOEw

There's a huge gulf between what is shown in that video and what is needed to replace a human doing that task.

There are so many cuts in that 1 minute video, Jesus Christ. You'd think it was produced for TikTok.

There's a laundry folding section at the end of that isn't cut. Looks reasonably impressive, if your standard is slightly above that of a teenager