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I think he's hit the nail on the head about symbiosis with AI. If we can start to augment our own intelligence then we can, like he said, "go along for the ride".

I feel like we've read a lot of the same Sci-Fi books... here are some of my favorites that involve augmented intelligence and the possible AI struggles in the future:

True names, the Peace War books, as well as the short story "Bookworm, Run!" by Vernor Vinge.

Old man's war by John Scalzi.

The Heechee Saga by Frederick Pohl.

The Fall Revolution series by Ken MacLeod.

The Virga series by Karl Schroeder.

Musk is playing an active role in the Sci-Non-Fi that we'll all be a part of if we live long enough...

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Watching the video, near the end, I started thinking about wireheads in the Known Space books by Larry Niven... Sign me up!