Also, to be clear: between Milner's two (fantastic) projects, he has committed $200 M, to be spent over roughly a decade. NASA's budget is about $19,000 M annually. For fast, efficient progress we need both—large amounts of government resources as well as private-sector funding of ideas that NASA and NSF are overlooking or not prioritizing for whatever reason.
http://history.nasa.gov/spaceact.html
(That's actually the original 1958 version. It's been amended occasionally since, but that will give you the gist.)
There are specific things I would alter about NASA's current course (including killing two projects worth a total of about $3 B per year) and I would amend the National Aeronautics and Space Act to alter its long-term trajectory regarding human activity in space, but much of NASA's job has been clear for decades.