two aspects of freedom: freedom of thought and freedom of action. The controllable and uncontrollable aspects of decision making thereby are made logically separable, as pointed out in the introduction. This separation of will from action has a very long history, going back at least as far as Stoicism and the teachings of Chrysippus (279–206 BCE), who separated external antecedent causes from the internal disposition receiving this cause. Steiner then argues that inner freedom is achieved when we integrate our sensory impressions, which reflect the outer appearance of the world, with our thoughts, which lend coherence to these impressions and thereby disclose to us an understandable world. Acknowledging the many influences on our choices, he nevertheless points out that they do not preclude freedom unless we fail to recognise them. Steiner argues that outer freedom is attained by permeating our deeds with moral imagination. "Moral" in this case refers to action that is willed, while "imagination" refers to the mental capacity to envision conditions that do not already hold. Both of these functions are necessarily conditions for freedom. Steiner aims to show that these two aspects of inner and outer freedom are integral to one another, and that true freedom is only achieved when they are united. Free will as a pragmatically useful concept William James' views were ambivalent. While he believed in free will on "ethical grounds", he did not believe that there was evidence for it on scientific grounds, nor did his own introspections support it. Ultimately he believed that the problem of free will was a metaphysical issue and, therefore, could not be settled by science. Moreover, he did not accept incompatibilism as formulated below; he did not believe that the indeterminism of human actions was a prerequisite of moral responsibility. In his work Pragmatism, he wrote that "instinct and utility between them can safely be trusted to carry on the social business of punishment and praise" regardless of metaphysical theories. He did believe that indeterminism is important as a "doctrine of relief" – it allows for the view that, although the world may be in many respects a bad place, it may, through individuals' actions, become a better one. Determinism, he argued, undermines meliorism – the idea that progress is a real concept leading to improvement in the world. Free will and views of causality In 1739, David Hume in his A Treatise of Human Nature