Yes "preprogrammed" definitely is the wrong word here on my part. I'm talking about narrow AI Vs more general AI.

With Optimus, it looks like for each task it has to do must be explicitly preprogrammed. Eg user command: "pick up that ball", it needs to have an explicit navigation task it's trained on, and explicit "grabbing" tasks which then need to be composed by hand and preprogrammed into a routine for retrieving an object. This is as opposed to projects like Google's SayCan where the language of interpreting the task, and the compositionality of prior skills learned to synthesize a policy for solving a problem are all learned.

To me this puts Optimus much closer to Atlas than it does the vision that Musk described last year for robots that can handle highly unstructured environments and custom user tasks