LiAR has come down in cost, probably $1000 now. But it's also the other sensors, like radar and sonar. That help overcome the deficit in thinking.
And no, we aren't anywhere close to AGI. There are fundamental limits tot he current methods being used. Adding more processing power and more training data was thought to be the eventual solution, but the reality is that is just a more refined model that still cannot reason. Current AI has great knowledge, but no wisdom. It's a fancy parlour trick, a prediction engine. For some things, this works well, or good enough. But I don't beleive that technique gets you to self driving, beyond the easy stuff.
Nobody really knows when or if we will achieve AGI. We are in no way close, or else it's just one huge discovery from existing. That huge discovery could be tomorrow, or never. You will know it, because the world will fundamentally change forever.
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