Sure, here's one study that supports that assumption: http://hkis.org.hk/ufiles/200512-bclam.pdf
Took a bit of searching, seeing as I don't have access to any Journals. However, I did find more references, and no doubt you'll find quite a bit of other studies in the citations of this one.
>"Their achievements are staggering;"
So has their budget. I just did a quick calculation from their wikipedia funding page. Since its inception, NASA has received 1069.323 billion dollars in 2014-inflation-adjusted dollars. That's a trillion dollars that could have been spent solving world hunger, poverty, disease, even income equality. Sure, there have been all sorts of side-effects from all that NASA R&D, but let's not try to compare apples to oranges here. Because you can't really compare public and private institutions' achievements. One has to earn the profits it spends on fancy R&D, and the other simply has to ask for it in the government budget.