It seems to me that the best thing for us as a species is to let robots that do the things robots are good at, like translating in physical space, moving objects, manipulating matter, et cetera, and let humans spend their time doing the things that humans are good at: art, culture, coming up with novel behaviors for robots.
You get excited about exploration-- that's great. I get excited about post-scarcity. Because that will mean that everyone gets to do what they're excited about.