Closer than you think Laz. You will see them first in Fast Food joints. Unfortunately the most likely robot to soon appear in homes besides the Roomba will be sex robots. Japan has a big head start in this area.
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There are people out there who spend a whole lot of money on sex dolls. The more money, the more realistic. And now, a new element is being developed in a particular line of sex dolls that could animate the dolls. The creator of RealDoll is on the forefront of developing a convincing AI sex doll, and we're a little bit scared about it.