> It seems they will see the greatest benefit from this research, but they don’t want to pay for it?
The US government also did the research on fracking (i.e., for natural gas extraction), as far as I know.
Back in the late 1950s when NASA was born, the US felt that if the Soviet Union obtained a significant advantage in space technology, it could be an existential threat. The government therefore invested directly in research.
The US still invests in research in nuclear energy and other things. Congress is just now passing laws that will allow the government to recover expenses for private commercial use of its space launch facilities (it's a bit more complex than that, and I don't recall the details).
Maybe it would make sense for anyone commercializing it to pay royalties, at least if they start earning serious revenue.