One simple dynamic stands at the heart of this question. Most economic activity is driven by private enterprises where labor is the primary cost. Increasing profits and shareholder value is not only the necessary purpose of private enterprise and a matter of survival, but a legal obligation. This means, quite simply, that reducing labor costs is a ceaseless underlying motive built into the economy at the enterprise level.
Of course, at the global level, each company wants the workers of other companies to be paid more in order to consume more. The contradiction here leads not only to cyclical overproduction and recession, but increasingly to an offloading of labor costs to government, consumer debt, and, above all, government debt. Education, for example, is a necessary labor cost that companies collectively wish to offload to government and, better yet, the governments of other countries outside of the company's own tax base.
Automation does not solve these problems, but rather displaces, depoliticizes, and conceals them. After all, the machine that replaces labor does not make itself. It requires labor elsewhere to build the machines, to mine the metals in the machines, to feed the miners who mine the metals, to parent the farmers who feed miners who mine the metals, and so on...like the house that Jack built.
There is some increase in productivity, but far less globally than we observe locally. The entire system, "capitalism" if you will, continually generates a periphery of impoverished, displaced, migrating, and regularly unemployed labor. While there may be absolute gains in some areas, the levels of poverty relative to owners of capital, or "shareholders" does not close the gap. Since the entire system depends of a continually growing global population to absorb a continually growing debt and has been regularly punctuated by global wars that "clear the books," it is too early to say if any gains are permanent.
In short, we really do not have a very clear global, longterm view of poverty and unemployment across billions of people in all stages of life, from embryonic to aged. But the fundamental structure of the world economies, as observed at the enterprise level, tends to generate relative impoverishment and automation itself does not resolve this, but rather displaces and reorganizes it.