Duty theory is a deontological ethical theory that focuses on morality of duties and obligations. It originated from Greek philosophy and was developed by several philosophers including Samuel Pufendorf, John Locke, and Immanuel Kant. Kant emphasized acting in accordance with a single moral duty or categorical imperative to treat people as ends in themselves, never merely as a means. More recently, W.D. Ross proposed that there are several prima facie duties that can sometimes conflict, including fidelity, reparation, gratitude, justice, beneficence, self-improvement, and nonmaleficence.