Just had a thought/realization about this. There are people who live on welfare and food stamps, and have for generations. There are whole communities of people like that around the world. They live within the main aspects of RBE, having food and shelter provided to them, and not having to worry about anything, with having plenty of time to devote themselves to whatever they want. Why is it that those people generally don't do anything other than waste time in front of a TV or video games, don't study anything at all, have no drive to learn any employable skills, and generally don't do anything that leads to "an engaging, dynamic, fulfilling and rewarding experience?" Why would a society living under an RBE system not end up just like our welfare communities?
Interesting while in fact there is some problem with the people you describe , why i dont know i would guess it is more complex then you describe it , but on the other hand i know plenty that educate them-selves by their own free choice beside work in useful subjects like informatics , engineering just because they like it.
Beside i dont care about people that "waste time in front of a TV or video games" it is their life to waste as long as they dont cause problems , isn't it true freedom that you are you so preciously strive for ?
My friend and classmate graduated with a degree in teaching and english, and came from that type of background, so yeah, there are some people (mainly kids) who want to get the heck out of there. But I suspect they're in the minority.
But the problem is, they're not wasting their life, they're wasting other people's lives by taking other people's inputs (wealth workers produced and partially paid back in taxes) and turning it into nothing. So, they don't have freedom; they are dependent on other's for survival, and contribute very little in return.
But the main point is still, why won't an RBE society end up with a vast majority of the population being lazy and doing nothing, while being stuck dependent on the few people/machines that are actually producing something?
Also, is the luxury cruise ship from Wall-E an example of RBE? Cause that sounds like what you, and I, are describing here.