Our body has fixed needs: a certain number of calories, a certain temperature, etc. But technology lets us do things more and more easily. So life should get easier and easier.

(That is, the bare essentials of life get easier: obviously we might choose to do more.)

Then why do we feel any pressure to work long hours? Because under the current system of unearned wealth for landowners, house prices (and hence rent) tend to go up and up. But under ground rent the cheapest rents will always go down and down. So if you want to live cheaply, you can!

This also solves the problem of "robots taking our jobs". When it is cheaper and cheaper to live, but you get an ever increasing payment (your share of the increasing value of society), you need to do less and less to justify the cost of your existence.