[streetcat1]

And you will be correct.

Also, I am not sure why a future robot will have only 2 legs and 2 hands ?

Isn't the whole point is the be productive, why not 4 legs and 4 hands?

I am sure that if you run RL experiments in a human house, you would find much more efficient design (I.e. the human design is based on human living in nature).