specifically their speech demo video (which is, of course, a demo video)

https://youtu.be/Sq1QZB5baNw

https://www.1x.tech/neo and

https://www.unitree.com/h1/

are undoubtedly using such models.

It's an area of active research, eg

https://www.physicalintelligence.company/blog/pi0

https://wholebody-b1.github.io/

https://ok-robot.github.io/

https://mobile-aloha.github.io/