Tesla CEO Elon Musk unveiled on Thursday his vision of a “a fun, exciting future,” an “age of abundance” full of his company’s self-driving cars without steering wheels, parking lots turned into parks and robots that will walk among the population – that he once again promised would be available within a few years.

Tesla plans to launch fully autonomous driving in Texas and California next year, with the Cybercab entering production by 2026 — although he said it could be as late as 2027. Additionally, Tesla is developing the Optimus robot, which could be available for $20,000–$30,000 and is capable of performing various tasks.