that's the thing, what's the appeal of humanoid robots then? why not something more fit to the task? imagine if your roomba had legs because well that's what a human uses to move around when cleaning
If you want several bots all custom built to specific tasks, go for it. That will happen too. But a generalist has value of its own.
That would probably be an improvement. Floors are designed for people, and may have several levels. An ideal vacuum would probably look something like a centipede.
Anyway, the appeal would be that it can perform several tasks. It doesn't need to perform all the tasks a human can to fulfill that.