I actually think that robots that could do 95 percent of work with a tiny group of humans existing would actually be a trigger point for very wealthy people to justify killing off billions, sharing the earth with only elite and robot servants and not having to deal with those who are unfortunate. A change that 1984 or others didn't even imagine. A future where the huddled masses aren't justified anymore or needed. Today they are necessary for production. Once that is finished then the choice pieces of the world can be walled off like gated communities but on a scale of "the whole Swiss alps" or "all of the Caribbean". Cull the non wealthy and inferior and shrink the population to a hundred million to hold all of the resources. Within a generation the old ways would be gone.
The problem today is that you still need. Humans to produce but the Giga Plant near Austin is the largest manufacturing space on the planet with the fewest workers. The biggest and greatest goal would be an ideal community of ayn Rand's society in the Rocky Mountains with only the elite thinkers and producers owning the resources and using labor that doesn't demand time off or work life balance.
The future isn't control, it's elimination and reduction with a rate to determine when.
Once the rate of AI robots in production, manufacturing and task completion exceeds humans and the production is co to yours and free, suicide will only be taboo among religious then slowly the view will shift as "justified euthanasia" becomes a norm and a "sacrifice necessary for the greater good"
And it won't mean societal collapse, it will mean a time where the few who concentrated resources before the great shift will end up no longer having to wait in line, have a velvet rope or bother to even wait for something special. The resources, views, history, natural resources, expriences, joys and view of humanity will change. Two generations later with population strictly limited by joy and cultural norms the mass graves will be remembered only with plaques. Great cities, slums, factories will be things of the past. Most needs will be met by the concentrated manufacturing and agribusiness, enormous commericalism, the idea of mass marketing will be gone. And with that loss the need at all for humans on the humble side of life will cease. Mass starvation will dictate that mercy is far better than a slow death and billions will be humanely killed.
This is the future because the alternative is sharing resources far too limited to support those who do own them all today.