Staying out of poverty is simple. By in large it takes three things: graduate high school, maintain employment, and don't have children out of wedlock. These three things are important to remember whenever we're discussing social policy. Any policy that subsidizes or encourages people to not do those three things is a social policy that behaves like a poverty factory.
Just get a job! Brilliant! Why don't all these poor people think of that?
There are urchins who choose not to work and do just fine. It's fairly straightforward to scam Social Security Disability for main income and then collect EBT, food stamps, and get some housing in the projects.
It's not a great life, but it's a living, and there's plenty more help to pay for phone and utilities. If one is wicked, then they can sprinkle in some identity theft or plain old theft to pay for luxuries like a car or the newest iphone!
Work does suck, I can sympathize with wanting to avoid it. And if you're constantly told you'll never make anything of yourself and that you're a perpetual victim from childhood, well that'll beat you down too. I just don't buy the assumption that every impoverished soul is noble.