90% of cleaning should be done by the people making the mess. That requires an adjustment in our cultural view of labour. Cleaning isnt below certain people, or certain roles... its simply a part of every role. Specialty cleaning, and cleaning of public spaces, would presumably be automated to some extent - and the folks running the machines, and doing the labour, would just get job benefits to compensate for the shittiness of their work like lower than average working hour, or a fancier place to live.