My thoughts are as follows:
Crimes are motivated by desires. Desires are linked to biological properties of human beings. As long as humanoid robots do not include the biological properties linked to desires, humanoid robots will not be able to self-plan and self-execute any crime. However, humanoid robots could be the tools for bad guys to use in a process of committing crimes. But, such scenario could be avoided with built-in software which evaluates and monitors the consequence of humanoid robots' actions.