I’ve checked my memory banks, and done some google-fu. I believe (75%) it was during this interview with Adam Ford: http://www.youtube.com/watch?v=tngUabHOea0 or one of his singularity summit talks.
Edit: Found a transcript here: http://mindstalk.net/vinge/firstMoversTalk.html
Vernor Vinge once said something to the effect of, “When a robot can autonomously clean a bachelor’s bathroom, then we will be very, very close to a singularity.” So he’s in agreement with you on this senero:
My God, what have we wrought! There’s going to be a massive [jainitorial] unemployment cri—FOOM
Edit, sourced qoute: http://mindstalk.net/vinge/firstMoversTalk.html
Vernor: My classic example of that is that I figured that a robot that could clean a bachelor’s unprepped bathroom
[laughter]
would be something that would be very close to satisfying the singularity.