To have robots at homes, they will need their tools to be efficient. It will not be the same washing machine, oven, or dishwasher that we use now, there will be new ones made for robots.
- Mix type.
- Mix consistency.
- Mix timing and water amount (which he adjusted as he worked).
- Uneven walls.
These things are based on experience, room type, wall type, wall alignment ... etc. There is no way that a robot will do the same job as a man; it has to be done differently. Using the same space as humans will not make generic robots useful. Your vacuum example is perfect, I have one and had to manually add/remove the water container as the robot will not be able to do that. Even if it does, it has to return to the dock, unload, and start again. A human would remove it at any point and place it somewhere else.
We're already seeing in AI that given human examples they can "learn" to act the same way, and a robot wouldn't have to go from never having done any plastering to being an expert plasterer in a single shot. They can be trained once using the expertise of professionals (both explanations, and videos of them doing work) such that they don't make the same mistakes you make on a first attempt - and once trained once, that knowledge can be rolled out to all robots running that software rather than needing to teach each one individually. Hell, even without expert advise in the training, they could even learn how to do it by trying it in a demo room (or a virtual environment) thousands of times until they figure out what does and doesn't lead to the desired end result...