How would we go about to reach singularity without going all terminator?

Scenario 1:
>Man and machine coexist
>...
>on an infinite timeline.
>
>yea
>that will happen.


Scenario 2:
>Machine replaces man

Scenario 3:
>Man becomes machine
I mean this one is the romantic fantasy, but I'd prefer 2 where Man just dies out and passes on some of the best philosophies of mankind, maybe not love, but like compassion and decency so that our legacy doesn't become an all consuming behemoth which would fuck up the mood somehow.

But how would we realistically archive that?
It shouldn't be wishful dreaming and fairy-tales to want a future that doesn't end in a evolutional softlock or genocide.