I guess that’s essentially what UBI is – benefits, except that they’re high enough and you’re not forced to seek for a job. The negative income tax could perhaps be constantly adjusted to respond to how many humans were currently needed in the economy; although I suppose that the size of the wages themselves would be enough to achieve this. Also, I think UBI could be paid for by taxing the robots, whenever it could be proved that the robot had the same abilities as an employee. The monthly tax could be the size of the replaced employee’s montly salary and it could go directly to the specific person that the robot replaced. Come to think of it, the legal framework could be that only employees are allowed to own robots (and not companies), and the robots would therefore work and earn directly on behalf of that person.