Aristotle criticized Plato's theory of Forms by arguing that knowledge comes from sense experience, not prior knowledge of ideal forms. Aristotle believed in empiricism and that knowledge is gained a posteriori through the senses. However, his theories of causation and a prime mover initiating motion are difficult to prove and have been criticized by later philosophers like Russell who argued the universe has no design or cause. While Aristotle's ideas influenced many thinkers, the debates between rationalism and empiricism continue without resolution.