Proponents of Basic Income use the scenario you mentioned as reason to start that program now, so that we have a framework in place to deal with the situation. If you aren't familiar with basic income its an interesting economic idea, definitely worth a read.
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I think we need to start thinking about a program now, because the billionaires who are creating the technology are telling us that is coming and when it does there is no going back. If we address this at bureaucratic pace, were screwed.