In August he tweeted: "Worth reading Superintelligence by Bostrom. We need to be super careful with AI. Potentially more dangerous than nukes."
In another Twitter post he said: "Hope we're not just the biological boot loader for digital superintelligence. Unfortunately, that is increasingly probable."
During his MIT appearance Musk also discussed his company SpaceX's plans to help populate Mars. "It's cool to send one mission to Mars, but that's not what will change the future for humanity," he said.
"What matters is being able to establish a self-sustaining civilisation on Mars, and I don't see anything being done but SpaceX. I don't see anyone else even trying."
Musk left the symposium to a standing ovation. Watch the whole thing here.
The ethical issues around AI were highlighted earlier this year when Google bought the British start-up DeepMind for $400 million. The London-based firm, founded by chess prodigy Demis Hassabis, specialises in algorithms and machine learning for e-commerce and games.
But Mr Hassabis has also predicted that AI machines will learn "basic vision, basic sound processing, basic movement control, and basic language abilities" by the end of the decade. Google has acquired a slew of robotics firms, including Boston Dynamics Google has acquired a slew of robotics firms, including Boston Dynamics.
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That purchase - Google's largest European acquisition - came just months after it bought Boston Dynamics, a firm that produces life-like military robots. Google has reportedly set up an "ethics board" in wake of the purchases but concerns remain.
Dr Stuart Armstrong, from the Future of Humanity Institute at Oxford University, has warned that artificial intelligence could spur mass unemployment as machinery replaces manpower. He has also warned about the implications for uncontrolled mass surveillance if computers were taught to recognise human faces.
But Mr Musk's warning has particular weight given his strong credentials as a tech pioneer. The South African-born multi-millionaire's CV includes online payments system PayPal, electronic car manufacturer Tesla Motors, and Hyperloop - his proposal for a near-supersonic transport link between San Francisco and Los Angeles.
In 2002 many sneered as Mr Musk launched a private space travel company Space X. A decade later it became the first private firm to launch a spacecraft into orbit and bring it back to earth.
Intelligent machines: AI breakthroughs
Lincor
A bedside computer that entertains patients while engaging them with relevant information and advice.
SwiftKey
Understands the context of language and how words fit together.
Celaton
Applies AI to labour-intensive clerical tasks.
Darktrace
Uses advanced mathematics to detect abnormal behaviour in organisations instantly in order to manage risks from cyber attacks.
See Elon Musk's Twitter feed here:
Tweets by @elonmusk
- Independent
