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 CEO Elon Musk first floated the idea of launching a robotaxi network using autonomous Teslas in 2019, saying he expected to begin deployment the following year. But Musk isn’t exactly known for sticking to his timelines.

Elon Musk unveiled the Cybercab on Thursday night at a highly anticipated event, where he also showed off new protoypes of a robovan and humanoid robot.