The one company that has really succeeded in this area is Giraff. They've done so by intensely focusing on in-home care and the user experience for the person interacting with the robot. Things like end user controls to approve/reject someone who wants to start driving the robot.
Anybots, on the other hand, focused more on the driving experience. Their rendered, in-browser, drive window helps overcome the awful user experience of trying to turn under lag. They also did a lot of hard work to solve wifi roaming and seamless handoff.
I wish Double the best of luck with my advice being that you need months of uptime and recorded daily use in a target vertical before you're ready to release.