I agree with you that humans in their current form will forever be earth-bound. But it's not because of a lack of funding or initiative. It's because it would be absolute insanity to consider exporting humans off the planet. The example I like is, suppose elephants were sentient, and coexisted on the planet with humans. Equal intelligence. Would it make sense to develop rockets to lift elephants into space, when humans are so much lighter? Of course not, go with the humans. So then, why lift humans into space when robots are so much lighter?

Intelligent, conscious entities, children of humans, will almost certainly spread out into space. But the human form is so ridiculously wasteful compared to a human consciousness operating in a robotic machine that it will never make sense to expend the effort required to spread humans around.

Freeman Dyson brings up this very issue, his approach was the Astrochicken. But I don't think even he really got how it will all play out.

Arthur C Clarke did, I think. The human form is just a stepping stone. The story doesn't end there.