They need a way to get onto counters, climb stairs, manipulate objects, et cetera. But all of the necessary capabilities do not need to be self-contained. Humans achieve their amazing flexibility through tool use, and so will robots. And in many cases those tools will be other robots. One robot could boost another onto the counter and then they both could get out of the way, unlike a robot large enough to reach up to the counter.

> once they can be made to quietly jump on to a counter, like a cat.

That would be cool. But also a little scary if it has an onboard AI which, based on it's embodiment, decides to develop a cat-like personality. Pretty sure if my cat had a better world model and long-horizon planning, it would kill me in my sleep.

Why? If you're dead, then it stops getting food and pets. If you're dead, it'll eat your face off if your neighbors don't break in first because of the smell.