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What would the incentives be to provide all of that other than to curb the eventual chaos?

Why do you need incentives? We're talking about the "do art all day because you're bored" phase of the singularity. If people exist, they'll do it because it's just fun to do.

This is correct. We are already doing everything correctly.

We just need these efficiencies distributed to more people. Eventually we should plateau into few hour work weeks for vital labor.

This is along the lines of what we need -- but those who control the world's resources would never allow it. I'm not optimistic.

And who will provide those universal basic services without getting paid? And let's not have some pseudo-religious nonsense claim that magic robots are going to do it all for us.