Much before robots become that useful, most people will already have bought one or two of them (it is worth surviving a massive economic transformation), and they will probably make robots works for livelihood. In the worst of hypothesis, people will associate to others who have robots.

It seems that, economically, there is a challenge: huge increase in robot-capital prices that would inevitably come in a robot-dominated economy. Technological advancements can't stop this. All the massive economic management we do for many, many stuff now, would have an analogue in the future. That is a non-trivial economic problem. As the current wealth of the world is inflated by imaginary assets (=fiat), there is not enough capital for the massive transformation (that is why the 1% can't just tell fuck off to the 99%, kill 95%, and become the kings of robots), so spontaneous processes would favor human beings undertaking robot-economy projects.

No need for government.