Tesla Chief Executive Elon Musk has for years teased plans for a fully autonomous robotaxi that can shuttle paying customers around town. On Thursday night, he finally showed the world what he had in mind, unveiling two new vehicles: an almond-shaped Cybercab with no steering wheel or pedals, and a Robovan, which can transport up to 20 people at a time or move cargo. Musk said the Cybercab, a two-seater driverless car that is designed to operate as a robotaxi, could cost less than $30,000, and customers would be able to buy one.

Tesla CEO Elon Musk unveiled his vision of a “a fun, exciting future,” an “age of abundance” full of his company’s self-driving cars without steering wheels or pedals, robots that will walk among the population and that he once again promised would be available within a few years.

Tesla’s initial robotaxi service will use Model 3 and Model Y vehicles. Musk said he wants to start that service in Texas and California in 2025. The Cybercabs will come later, he said, "before 2027." Those vehicles might cost as low as $30,000 each, he said.

Musk outlined his vision of a future where cars are utilized much more than they are today. In theory, that cuts down on the amount of cars needed and makes commuting easier. “With autonomy, you get your time back,” Musk said, adding autonomous cars will be safer than human drivers.