 A related doctrine is that no one errs voluntarily, a doctrine Plato holds consistently from the Apology to the Laws. If acrasia is impossible, then every moral error involves a cognitive failure about the action or the principle that it violates, and cognitive errors negative (or at least weaken) responsibility for actions caused by those errors. Socrates generally assumes that actions taken in ignorance are involuntary, and that therefore the proper response to wrongdoing is not retribution, but education, as he says in the Apology (25e–26a).