Researchers have been making humanoid robots for much longer than they've been trying to make any of those other things you listed. And yet, such devices are still limited to doing simple tricks of little or no real value. In the mean time, robots designed for specific purposes (that look nothing like people) are used throughout society. Humanoid robots will always be much more complex, and much less stable, than their non-humanoid counterparts. So of course they will never be affordable because you will always be able to make a cheaper wheeled robot.
Also, it is baffling to me that anyone would throw away money on this line of research. The limits of this kind of robot should be obvious to all of us, since it would have all the same limits we do. But for some reason this idea is so compelling to the less logically minded masses that it attracts all kinds of money for research that is destined to lead nowhere.