"Does welfare really help people get out of poverty or does it just encourage laziness?"
Depends on the welfare. Generally speaking (in the U.S.), no. Someone receiving food stamps and disability isn't going to be able to afford their rent, healthcare, or education, much less provide for their family (if they have one). There's still a great incentive to be productive and have a job, because it simply isn't possible to live entirely on welfare under most circumstances. It is possible if you budget and already own your home, etc.
Under ideal circumstances (ideal, in my view, which you may very well disagree with), the government should provide enough welfare to live comfortably on, as well as even basic housing, which could be accomplished relatively cheaply with 3D-printing.
I still don't think it'd make people lazy. Most people need some fulfillment, which is a social life, job, or drugs, etc. People will still want to work. However, automation will force job loss and cause a need for more welfare anyway.
But besides that, I also believe people should be able to take a break for college, mental health, or whatever else and not be forced to suffer so badly financially.
