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I disagree completely.
NASA was quite innovative. Space Shuttle, ISS, explorers to Mars, etc. They were just doing a lot of unsexy stuff to prepare for the next really sexy mission (humans to Mars).
Emphasis on "was." The Space Shuttle concept actually goes back to the early 70s. The ISS was a natural successor to Skylab, though 20 years late. (Space Station Freedom was planned, but replaced by the ISS after we started cooperating with Russia) The Cassini probe, New Horizons, MESSENGER, Dawn, etc all came from the Discovery and New Frontiers programs. I'll give you the current Mars rovers, but everything else came from the private and science sector, though funded by NASA.
The problem, again, is how priorities change each time the White House changes. Clinton (Bill) was content to expand the ISS and work on unmanned probes (the Discovery Program started under him). Bush 43 put us on a path to return to the Moon and got the New Frontiers program running. Obama nixed the lunar return (as well as the Constellation Program) with the asteroid redirect mission and pushing NASA into the earth sciences realm. NASA did come up with the SLS and kept the Orion craft under Obama, but right now it's a rocket with no clear destination other than the ISS. As well as behind schedule and over budget. What Trump will do? Not sure yet.
In my opinion, NASA has lost it's way and is content to farm out the ideas to the scientific community instead of what they used to do. I see SpaceX doing what NASA is incapable of doing at the moment. While NASA still rides somewhat high approval ratings among the general public, it's become nothing more than another bloated government agency. Again, this is my opinion and watching the private sector set a goal like NASA used to do.
Some links if you're interested:
https://en.wikipedia.org/wiki/Discovery_Program
https://en.wikipedia.org/wiki/New_Frontiers_program