Theoretical physics began at least 2,300 years ago, under the Pre-socratic philosophy, and continued by Plato and Aristotle, whose views held sway for a millennium. During the rise of medieval universities, the only acknowledged intellectual disciplines were the seven liberal arts of the "Trivium" like grammar, logic, and rhetoric and of the "Quadrivium" like arithmetic, geometry, music and astronomy. During the Middle Ages and Renaissance, the concept of experimental science, the counterpoint to theory, began with scholars such as Ibn al-Haytham and Francis Bacon. As the Scientific Revolution gathered pace, the concepts of matter, energy, space, time and causality slowly began to acquire the form we know today, and other sciences spun off from the rubric of natural philosophy. Thus began the modern era of theory with the Copernican paradigm shift in astronomy, soon followed by Johannes Kepler's expressions for planetary orbits, which summarized the meticulous observations of Tycho Brahe; the works of these men (alongside Galileo's) can perhaps be considered to constitute the Scientific Revolution.