It is usually argued that robots with a humanoid form factor will more readily adapt to the existing human environment. But I find that in most applications we modify the environment to be more robot friendly*. In making use of Roomba, for example, I reduced the clutter and set up virtual walls. Robot lawn mowers typically have a boundary wire. Similarly, factories and warehouses are modified to accommodate the robots that work there. As robots get smarter they may do more of the adapting and we may do less. But if we cohabitate with robots I expect the result will be a compromise, not our current environment, just as factories have long been tailored to both men and machines.
* I think we also modify our activities/behavior in adapting to the use and limitations of software.
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