The thing that makes me pretty terrified about AI is that I think the "utopia" scenario is not much better than the "doom" scenario.
We will very quickly get to a point where very few people will be able to contribute economically because they will be worse than AI (including robotics) at most domains. A world where people just have their whims catered to is not a utopia. We have tons of sayings and idioms about this, e.g. "no pain, no gain", "only the hard stuff is worth doing", etc.
The humans all running around on their Wall-E carts doesn't feel like utopia to me.
Edit: to head off the "rich people worried about striving for their job while people in poor countries are starving" arguments, I encourage you to visit a dying rust belt town in the US. These folks are by and large not starving (indeed, overabundance of calories is the bigger problem), they have adequate shelter, and plenty of outdoor space. Their material needs are met. But these places are despair central. People see little opportunity for advancement or the ability to change their circumstances, and the opioid epidemic is a direct consequence of a sense of hopelessness that there is no place for motivation to go or to effect change.