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As regards Yud, not clear to me why he thinks walking is similar to general intelligence.
pretty sure he's being sarcastic and making fun of others' bad predictions, but i agree it's not super clear
I don't know him personally so I don't know what his sense of humor is like, however, my impression of him is that he is very much a member of the Singularity cult and his life's work seems to be incoherent unless he authentically believes AGI is coming very very soon
He was part of the Singularity cult in 90s before anyone had heard of it but left the "hasten the Singularity" camp to work on AI Safety. Prior to his work, basically everyone was 
on it.
Given how much AI Safety work remains, AGI-decades-away may still be very soon—start now.
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