Right but that's very task specific, and what many people want is a single robot which can do many different tasks, and do so without modifying the existing environment. I would love a robot which could cook and clean and do laundry (including folding) but I still need to live in the same space it would use. The most obvious way to do that is a humanoid robot, which is why nanny companies are working on it, and here he's arguing that's not going to work.
The other obvious way to do it is to centralize it, have a lift in your house that brings up meals and clean laundry to order, where you can put your dirty dishes in when you're done, and a central space where staff and robots take care of things.
I'm actually surprised or interested that this isn't more of a thing, it doesn't take any high tech either. I suppose people like having their own stuff, or people can't be trusted, or it's prohibitively expensive to outsource food / laundry (even if especially in the US ordering food or eating out is very common).