Complex sentence: Like the ACR program that came before it in the 1980s, it has largely been a failure in terms of achieving the program goals and cost millions of dollars, but has resulted in many innovative weapons and weapon concepts as well as offshoot programs of its own.
Split into simpler sentences: Like the ACR program that came before it in the 1980s, it has largely been a failure in terms of achieving the program goals and cost millions of dollars. In the same way it has resulted in many innovative weapons and weapon concepts as well as offshoot programs of its own.