“The reason I want to start by backing all the way up to this like very basic control theory picture is that right now there's an enormous amount of argument about how one should make robots. Should they do planning and reasoning? Should they do reinforcement learning? How should we do it? So there's a huge kind of crisis almost in the field about what the best methods are. And what I want to start out this talk by doing is actually thinking about how we can answer that question in a way that's not political or religious, but technical.”