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Elon Musk has sued OpenAI and its chief executive Sam Altman for breach of contract, alleging they have compromised the start-up’s original mission of building artificial intelligence systems for the benefit of humanity.

In the lawsuit, filed to a San Francisco court on Thursday, Musk’s lawyers wrote that OpenAI’s multibillion-dollar alliance with Microsoft had broken an agreement to make a major breakthrough in AI “freely available to the public.”

Instead, the lawsuit said, OpenAI was working on “proprietary technology to maximise profits for literally the largest company in the world.”