We are slowly, step-by-step heading toward visble androids.
Other people have mentioned flexibility in maneuvering around humanoid spaces, but there's also something to be said about bipedal balance. I can pick up a pack of shingles throw it on my shoulder climb up a ladder and put the shingles on a roof without having to be half of the size of a cherry picker lift. Nothing says they have to be exactly humanoid or even necessarily bipedal. For some jobs I could see something more tri-pedal, insectoid or even spider-based would be useful