As long as we have a system with most people depending on a job to avoid poverty,and unemployment is rising and will continue to rise with increased automation,poverty can not be avoided.
And it has in no way been "greatly eliminated,that seems like neo-liberal propaganda to me. Most of the commonly cited statistics have the world bank as it´s source.This is highly problematic,they are hardly an objective source. "As of 2012, 2.5 billion people lack access to sanitation services and 15% practice open defecation.[122]" (wikipedia
The World Bank's "Voices of the Poor," based on research with over 20,000 poor people in 23 countries, identifies a range of factors which poor people identify as part of poverty. These include:

Abuse by those in power
Dis-empowering institutions
Excluded locations
Gender relationships
Lack of security
Limited capabilities
Physical limitations
Precarious livelihoods
Problems in social relationships
Weak community organizations
Discrimination
And are you talking about absolute povert or relative poverty? You have to realise that our living standard globally is an effect of the technological development as much as our econmoic system. When it comes to absolute povert,you might see a certain"trickle down effect" caused by improved means of production,but when it comes to relative poverty there is only a stream up effect!