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Stuart_Armstrong comments on David Chalmers' "The Singularity: A Philosophical Analysis" - Less Wrong
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AI's without utility functions, but some other motivational structure, will tend to self-improve to a utility function AI. Utility-function AI's seem more stable under self-improvement, but there are many reasons it might want to change its utility (eg speed of access, multi-agent situations).
Could you clarify what you mean by an "other motivational structure?" Something with preference non-transitivity?
For instance. http://selfawaresystems.files.wordpress.com/2008/01/ai_drives_final.pdf