No more scarcity of labor doesn't mean no more scarcity of resources. It's not because the robots can build the house for almost nothing that you have the space, the raw materials and the energy to make that happen.
We are shifting to the purest capitalistic society possible: the things that you can have are no longer limited by the amount of labor you can put into them, but by the amount of capital you can transform into them. That means that the 7 billions people that own nothing still get nothing. In fact, it's even worse for them, because previously they could exchange their labor force for a living, while now it's worth nothing.
It's also not possible to assure everybody get a minimum, simply because resources don't grow (or we have to colonize other planets, which is likely to happen after the free labor). Or you have to limit the population to assure that this minimum resources doesn't decrease over time, which isn't very popular these times.
I think what will happen is an era of riots between the ones that own the resources and the huge remaining of the population. Eventually, the own-nothings will just die out from their miserable living conditions and the small percentage of humanity remaining will enjoy the leisure society like in The Dancers at the End of Time series by M Moorcock.
Or it could be that 2 parallel societies will coexist, the post-scarcity utopia and a low-tech mass population fighting for survival and trying to enter the utopia. Who knows?