What sometimes happens is the military will take a promising technology and compartmentalize the whole thing… severing it from the unclassified starting point and even splitting up the development team so that they cannot even talk to one another about about the technology. So the classified team will benefit from what they see in the unclass side but not vice versa.
At the time I saw the biped doing backflips, I figured that it happened no later than that time. No later.
Personally, while intrigued at the possibilities and the research opportunities, I think it’s scary.