Except the value of labor - especially labor such as marketing, or government gruntwork such as FDA approvals - cannot be done by robots. At least today, and probably not in the next 50 years. So there is still a lot of labor that will have to go on.
As for shifting all taxes from income to capital - this can't work without enormous changes to free trade. This means that we'd have to stop free trade entirely (catastrophic for developing countries) or implement UBI across all countries at the same time (definitely impossible in the near future).
The problem is that all the capital holders would have immense pressure to move their businesses overseas if they're going to lose substantial parts of their capital every year from tax. Income and profit taxes don't do this because the business still has to be growing to pay the tax, so you can just increase prices to offset the tax, etc. But a capital tax big enough to cover income for the entire country would be significant percentage of capital every year. Any hole left open in free trade would have that capital rush to other countries where such a tax does not exist.
Plus even if capital stayed, that would further reinforce 'growth at all costs' mindset. You'd have to grow your capital at a rate greater than the tax every year to be successful. You'd have massive corporate thuggery - such as pricing things just above UBI to force people to come in to work as marketers and other roles to push each business above the competition and beat the capital taxes.
What if your whole economy had a bad decade and assets failed to outgrow your capital tax? As with income tax, your tax base has just shrunk. But you can't decrease UBI because your whole population and economy is based around a set price level. You're back to having to take extreme measures to keep everything running, and a mistake will blow your now-fragile economy out the water.
The takeaway for me is that UBI isn't something we could just graft onto our existing system and pretend it's a miracle cure. We are going to need to change our entire system.