Retirees aren't the richest bunch, true. Collective poverty isn't an unlikely outcome for the vast majority of humans. Still, "poverty" need not be uncomfortable when "token conveniences" like a private home, food, entertainment, and opportunities for (even if economically useless) creativity and learning are in abundance.

An interesting analysis on a world with increased automation via emulated brains of the best of humanity: http://ageofem.com/