Well it looks like we're getting closer to the first goal. Harvard researchers have built robots made from DNA. While I'm not sure the robots themselves can self-replicate, it seems probable that using PCR it would be easy to make trillions of these things at a time.
I know robots made from DNA may not be as flexible or robust as ones made from a completely "bottom up" approach (by Eric Drexler's assemblers) but it's a (good) start.. By using these self-assembling systems as a base, we can hopefully use them to make more general purpose machines. And as long as they're made from fragile DNA (carbon links) there's less chance of them becoming an unstoppable Grey Goo!
Now if only we could solve that pesky A.I. problem. If Siri and Watson had a baby, would it be HAL?"
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