They don't have to catch up, they just have to be good enough on a narrow set of tasks to be worth the trouble. Perfect is the enemy of good here. Everything I've seen suggests that the prototypes are already pretty good at simple tasks that involve recognizing, picking up, and putting things into/onto other things in some way.

All the dancing, jumping, running, etc. is nice for marketing but not actually that urgent for such tasks. Dexterity is nice. There are plenty of examples of humanoid robots doing pretty fiddly stuff like folding t-shirts and other things.

The rest is just optimization where these things gradually get faster, efficient, do more complex things, etc.