We review progress made on the advanced tokamak path to fusion energy by the DIII-D National Fusion Facility (Luxon et al. in Nucl Fusion 42:614, 2002). The advanced tokamak represents a highly attractive approach for a future steady state fusion power plant. In this concept, there is a natural alignment between high pressure operation, favorable stability and transport properties, and a highly self-driven ('bootstrap') plasma current to sustain operation efficiently and without disruptions. Research on DIII-D has identified several promising plasma configurations for fully non-inductive operation with potential applications to a range of future devices, from ITER to nuclear science facilities, to compact or large scale fusion power plants. Significant progress has been made toward realizing these scenarios, with the demonstration of high b access, off-axis current drive techniques, model based profile control, and stability and ELM control in reactor relevant physics regimes. Radiative techniques have also been pioneered to develop improved compatibility with divertor requirements, and simultaneous access to high performance pedestals. Research has also developed major advances in physics understanding, validating concepts of kinetic damping of ideal MHD instabilities that enable high b operation, identifying how current profile and b influence plasma turbulence in order to validate and improve turbulent transport models, and understanding the physics of energetic particle redistribution due to Alfvénic and other instabilities. These advances have been partnered with development of a rigorous integrated modeling framework used to interpret and validate individual physics models of the various aspects of plasma behavior, and to guide development of improved regimes and upgrades. These tools are also being used to develop and validate concepts for future reactors directly. Having established these foundations, DIII-D is now undergoing a substantial upgrade to raise power, current drive, electron heating and 3-D field capabilities in order to validate this physics and test conceptual solutions in reactor-relevant physics regimes, with a goal to resolve the key scientific and technology questions to enable a decision on a future steady state fusion power plant.