History would seem to indicate we will go the Way of Elysium not Star Trek....

Most of the world will live in poverty (just like today) and a increasingly smaller group of humans will live in extreme luxury.

While idea's like UBI would be nice, the point to implement them I believe is past... They should have been created decades ago. If we wait until 20% or more of the jobs are replaced by automation, it will be to late for most people... Poverty will be the future... Poverty is the future for most.