How human-like should a robot be?

There are those who argue that if a robot is made as human-like as possible this will help the two relate to each other and understand each other. See, How to Build an Android by David Dufty, 2012 and Virtually Human by Martine Rothblatt, 2014. I tend to disagree. I think this just makes the robots creepy and harder to relate to. But it is true that body form and function influences the concepts the robot will develop and use. That will aid in robot-human understanding. I think something along the lines of  Softbank robotics' Pepper is a reasonable compromise.