You can have robots do work and they don’t have to look human. As a matter of fact, robots already do work and the best of them look nothing like us. Androids are nothing more than the logical extension of our vanity.
Vanity is not a part of the equation unless perhaps the target market is pornography...and then instead of vanity, the ingredient is probably heightened stimulation.
BTW, I feel somewhat comfortable is suggesting that the "humanoid companion" market has been taken into account in Japanese thinking vis-a-vis robots.