It doesn't need to have a sleeping surface or stay sprawled out when it isn't in use. It could bunch up into a little ball and fit in the corner of your ceiling. And it doesn't need to be the size of an adult to do most household stuff, some of the unitree ones are really short in stature, a foldable step stool for reaching upper cabinets or changing lightbulbs is probably enough.

A bigger issue is whether it can really be as safe, not trip over wires, throw the baby in the trashcan, start a fire trying to make a cup of coffee and that kind of thing. Beyond accidents, lots of companies are talking about hooking these up to LLMs for planning that have horror movies in their training sets.