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The need for judging moral responsibility arises both in ethics and in law. In an era of autonomous vehicles, the issue has now become relevant to AI as well. Although hundreds of books and thousands of papers have been written on moral responsibility, blameworthiness, and intention, there is surprisingly little work on defining these notions formally. In this talk, given May 1, 2017, computer science professor Joe Halpern takes some preliminary steps towards defining these notions.