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René Descartes (1596–1650) held that light was a mechanical property of the luminous body, rejecting the "forms" of Ibn al-Haytham and Witelo as well as the "species" of Roger Bacon, Robert Grosseteste and Johannes Kepler.[1] In 1637 he published a theory of the refraction of light that assumed, incorrectly, that light travelled faster in a denser medium than in a less dense medium. Descartes arrived at this conclusion by analogy with the behaviour of sound waves.[citation needed] Although Descartes was incorrect about the relative speeds, he was correct in assuming that light behaved like a wave and in concluding that refraction could be explained by the speed of light in different media.