Ignoring quibbling about inference not being the only cost and other issues and just accepting the proposed end state: this is very good if capital is effectively democratized, and apocalyptically bad if it remains highly concentrated in a narrow class.
Are there any indications to think it's possible in our world?
It would be bad to remove demand for humans from the economy, of course. Humans have inherent moral value, and so it's good that our current system gives them economic value as well. But there's more than one way to achieve that end, and the massive quantity on the good side of the scale suggests it may be worth investigating the others instead of opposing the advancement outright.
Rhetorical.
And if all goes bad, imagine a world in which you and your family are homeless and starve to death.
Luckily the politicians and business leaders in place today who are going to be responsible for navigating us to one of these outcomes are the adults in the room, very ethical, even keeled and not the least bit corrupt. So... we should be fine! /s
I am imagining a world somewhere between the movie Elysium and Oblivion.
Initially, sure. But the price will come down in time, just like with any other technology in history.
I question the premise that humanoid robots are "around the corner". I suspect this will turn out more like self-driving cars which are still a very slow burn.