I think you need to look at what drives innovation, i.e. making money. This in general this is done by making things more efficient, which has been going on since at least the industrial revolution and selling things that people need or want which has been going on at least since people started building towns.
Going to other planets takes a lot of energy an is expensive, how does it make anyone money? Until someone finds a big return on investment from space travel, either because it makes something more efficient than the cost of traveling to space or produces a good that people want, there will be no incentive to develop the tech to cheaply explore other planets.
AI is perhaps more likely, especially since it can make things like intelligence gathering and health care much more efficient. BUT, and this does seem a bit curious, society seems to optimize for efficient use of human resources. Think about clothing production, it is still all sewn by people on sewing machines, why? Because the cost of setting up and running CNC machines to do it out-weighs the cost of just getting cheap labour.