It's no longer monumental anymore. Motors and actuators have improved tremendously over the past couple years. And AI assisted learning of visual tasks has enabled similar progress in areas related to manipulation of physical objects in a real environment. An affordable robot that does your laundry will be possible this decade.
I have no doubt that it’s possible, if not probable that a robot will be more than capable of performing those tasks within the next decade, it’s that OP thinks to seem AI is far off from being able to do so, when the reality is that robotics is more the bottleneck.
I invest in a lot of robotics companies and you are right; within 10 years they will be performing janitorial services, but it will be unlikely that the average consumer owns one in that timeframe. What we will more likely see are companies that offer them as a service, deploying a $50,000 robot at your business, hospital, city, etc. for a fee. Eventually, those services will be offered to homes for a fraction of the cost of a housekeeper, and someday, the price will plummet to the point where every home will have their homes cleaned entirely by robots every day.