Ghatanathoah comments on A (small) critique of total utilitarianism - Less Wrong
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That's Peter Singer's view, prior-existence instead of total. A problem here seems to be that creating a being in intense suffering would be ethically neutral, and if even the slightest preference for doing so exists, and if there were no resource trade-offs in regard to other preferences, then creating that miserable being would be the right thing to do. One can argue that in the first millisecond after creating the miserable being, one would be obliged to kill it, and that, foreseeing this, one ought not have created it in the first place. But that seems not very elegant. And one could further imagine creating the being somewhere unreachable, where it's impossible to kill it afterwards.
One can avoid this conclusion by axiomatically stating that it is bad to bring into existence a being with a "life not worth living". But that still leaves problems, for one thing, it seems ad hoc, and for another, it would then not matter whether one brings a happy child into existence or one with a neutral life, and that again seems highly counterintuitive.
The only way to solve this, as I see it, is to count all unsatisfied preferences negatively. You'd end up with negative total preference-utiltiarianism, which usually has quite strong reasons against bringing beings into existence. Depending on how much pre-existing beings want to have children, it wouldn't necessarily entail complete anti-natalism, but the overall goal would at some point be a universe without unsatisfied preferences. Or is there another way out?
One possibility might be phrasing it as "Maximize preference satisfaction for everyone who exists and ever will exist, but not for everyone who could possibly exist.."
This captures the intuition that it is bad to create people who have low levels of preference satisfaction, even if they don't exist yet and hence can't object to being created, while preserving the belief that existing people have a right to not create new people whose existence would seriously interfere with their desires. It does this without implying anti-natalism. I admit that the phrasing is a little clunky and needs refinement, and I'm sure a clever enough UFAI could find some way to screw it up, but I think it's a big step towards resolving the issues you point out.
EDIT: Another possibility that I thought of is setting "creating new worthwhile lives" and "improving already worthwhile lives" as two separate values that have diminishing returns relative to each other. This is still vulnerable to some forms of repugant-conclusion type arguments, but it totally eliminates what I think is the most repugnant aspect of the RC - the idea that a Malthusian society might be morally optimal.