As someone formerly below the poverty line, I take great issue with the statement that the poor do not want to work.
To put this back in terms of the updated graph from the CBO: even a menial job offers the potential to possibly move out of the poverty range with time. Between $20k and $30k the Disposable Income line tracks very closely to the Real Earnings line, meaning that the incentive is high. In a more practical sense, the difference between having $20k in disposable income and $28k is actually very palpable. Living in poverty is a hardship that defies the rationality he suggests.