The Tor developers strike me as a pretty libertarian bunch. They do have frequent contact with the FBI, but it is mostly just telling them the basics of how Tor works and why they cannot help them trace people who use Tor. The lead developer of Tor went to school at MIT and then worked for the NSA for a brief period of time, after he quit the NSA he implemented Tor with another person from MIT. The original concept for Tor came from the US navy, however the actual implementation of Tor does not have a direct tie to the US military other than the fact that the lead dev briefly worked for the NSA.