It sounds like you're implying there will always be waiter, organizer, dancer, and other service jobs with human elements that robots can't do. That seems reasonable, but if there is a huge pool of people willing to do them, wouldn't the supply level depress the wages to below what we consider minimum wage? Unless we lower minimum wage, we'd have massive unemployment. And if we did, we'd have a very poor class of people.

I have a more charitable view of the essay, I don't think he's claiming we should have a war on efficiency, I think he's claiming we need a new structure to our economy that works when you have a massive spread between the rich and poor.

And I think he has a point, if we don't try to get ahead of the curve on this one we'll just end up with our current system with higher progressive taxes using that money on social programs, make-job programs, and bureaucratic jobs that will never go away for lack of budget pressure.

edit: After thinking more, maybe the original author IS implying we should retard efficiency and not just create structural change that copes better. In that case, I think he's misguided.