There has been efficiency gains throughout. Capitalism is amazing for that, far better than other systems.
The problem is too many people. If standard of living is to increase then the resource requirement is due to massive unsustainable population growth.
That and the fact the public hate externalities and don’t want them used at all never mind aggressively.
The only billionaire I know of that is launching rockets is Elon Musk.
That’s just evidence that capitalism is efficient. Because SpaceX has revolutionised space travel making the only reusable rocket doing something all the government agencies said was impossible. NASAs new unbuilt rocket is using tech from the 1970 that they are going to throe away into the ocean on every launch.
The rest you say is meaningless. How you expect this robotic skyscrapers to be built? Some MIT masters project or some capitalist experiment?