It depends on your definition of "poverty".

If you have an absolute standard in mind ("Daily income more than $10/day in inflation adjusted dollars") then absolutely, yes. Worldwide incomes are rapidly rising including among the poorest of the poor.

If you mean" people in the bottom 10% of the income distribution" , then by definition no. I don't see a way to have all people earn the same amount, at least not with real humans on the real Earth. Maybe in the 23rd century with free energy and replicators but that's far enough from reality as to be irrelevant.