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What led to the split between Sam Altman and Elon Musk at OpenAI?

Sam Altman and Elon Musk were cochairs of OpenAI when it was founded in 2015. In 2018, Musk proposed taking control of the organization to compete more directly with other artificial intelligence companies, including Google, but Altman declined. Musk then left OpenAI, and the split reflected broader differences over how AI should be developed, governed, and commercialized.