Vicarious was co-founded by Dileep George who split off from Jeff Hawkins after jointly working on the Hierarchical Temporal Memory theory and co-founding Numenta together. Hawkins is still at Numenta I think, so they likely had some differences. I posted about his explanation of the HTM theory here.
I wish I knew what Vicarious have been doing lately; it is clear that AGI is rapidly becoming The Most Serious Business Ever. You know Elon Musk is afraid, and as a heavy investor it's partly because he has access to the latest developments.
The airplane metaphor here probably hits the nail on the head (Dileep George):