Furthermore, mobile robots currently in home use--vacuum and mop robots--are all wheeled, of course. We've shown we can accommodate wheeled robots in the home if we feel like the payoff is worth it.

Well I think wheels match the use case there, a small bot close to the ground with just the one job. I think there will be many wheeled bots to begin with. But long term I don't see that form factor scaling to "able to do all tasks around the house".

It's super easy to come up with scenarios that a wheeled bot can't cope with, but again "good enough, cheap enough" will probably see lots of wheeled bots on the market. I am just trying to show why the pioneering companies would be interested in bipedal bots, it's a long term play.

Lastly, the elephant in the room is that basically all general purpose bots are a euphemism for military bots that will need to operate in unknowable conditions.