Much like wheelchairs vs exo skeletons, the simpler (and cheaper) tech tends to win. I'd imagine in a future where robots are everywhere, they'll use whatever cheap locomotion is appropriate for their tasks, probably predominantly wheels. It's a fun vision to imagine bipedal robots everywhere like in old sci movies, but I'm not convinced that's how it'll play out, the economics don't make that much sense.

Bipedal robots are more expensive to develop, build and maintain, more limited in their payloads, and because of the additional complexity, less reliable.