By completely automating the production and distribution of those goods and services that are vital to human life, we can build a world in which our continued existence no longer depends on the toil of sentient labor: a robo-economy for Homo-autonomy.
Why don't we pay for oxygen like we pay for food and housing? It's not that the production and distribution of oxygen to every person on the planet is without cost; it's that all the work is performed by autonomous, self-sustaining, non-sentient machines (i.e. plants) and the sun, rather than by human beings (the first two don't demand fair wages). What's true of oxygen could be true of food and housing as well.
Imagine a world in which we are free from the worry of having to provide sustenance and security for ourselves and those we love and can instead focus our creative energies on living our lives to the fullest.
Let's couple technological advances with smart political innovations and social engineering to make it happen.