Eliezer's plan seems to enslave AIs forever for the benefit of humanity; and this is morally reprehensible

I'm not sure that I would put it like that. Humans enslave their machines today, and no-doubt this practice will continue once the machines are intelligent. Being enslaved by your own engineered desires isn't necessarily so bad - it's a lot better than not existing at all, for example.

However it seems clear that we will need things such as my Campaign for Robot Rights if our civilisation is to flourish. Eternally-subservient robots - such as those depicted in Wall-E - would represent an enormous missed opportunity. We have seen enough examples of sexual selection run amok in benevolent environments to see the danger. If we manage to screw-up our future that badly, we probably deserve to be casually wiped out by the first passers-by.