Isaac Asimov wasn’t just a science fiction author, but also a visionary. When asked to make predictions for an op-ed for the New York Times, in honor of the 1964 New York World’s Fair, he came up with some ideas that probably seemed impossible then, but are utterly believable today. In fact, most of Asimov’s predictions are spot-on, with just a few that are only a little off.

So what did Asimov predict that came true? For starters, he saw a future of self-driving vehicles, house-cleaning robots (like the Roomba) and flat screen television sets. These technologies seem common place today, but imagine what people must have thought of his predictions in 1964.