Humanoid robots won't be feasible while we're still tethered to existing Li-ion battery technology. The two advancements in robotics in recent years, Boston Dynamics' Atlas and Spot, have battery lives of 60 minutes and 90 minutes respectively. With a recharge requiring multiple hours, unless these things are tethered or we invent some kind of electrified floor tech, they are too niche and uneconomical, sadly.