I always hear the argument for capitalism "B bb BUT people won't innovate without the profit motive" WRONG
Humans want to solve problems, create, and innovate, they do not need money to motivate them. Cavemen were painting art 20,000 years ago without the desire of money.
True scientists like Tesla, he didn't care about money it was about the pursuit of science.
Capitalism does not cause innovation, most new technology is found by government programs like nasa (internet, smartphones, etc)
There are activities/jobs which some people would eagerly do without any payment if their daily living needs were met at the same time. That's what was happening with the cavemen you've mentioned and that was the case with many scientists, poets, artists etc in the past. I'm sure there are people like that nowadays too. However, there are many jobs which have to be done for the sake of humanity's' survival, but those jobs are not so entertaining and nobody wants to do them without payment.
Also, if you think that people working at NASA receive small payments, you are terribly wrong, my friend. NASA employees earn $62,000 - $126,000 annually, and get many other benefits in a form of meetings in exotic places of the world etc. Maybe they are not motivated by money, but I personally wouldn't wish for them to do the same job living in a Gulag.