Personally I would rather shoot for a world where the ever present nano-swarm saw that I wanted a cup of good coffee and effectively created one out of thin air on the spot, cup and all. Assuming I still took pleasure in such archaic practices and ways of changing my internal state of course. :-)

I am not well qualified to give a good guess on the original question. But given the intersection of current progress in general environment comprehension and navigation, better robotic bodies, common sense databases, current task training by example and guesses on learning algorithm advancement I would be surprised if a robot with such ability was more than a decade out.
- samantha

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