In 1968 and 1970, Roger Penrose, Stephen Hawking, and George F. R. Ellis published papers where they showed that mathematical singularities were an inevitable initial condition of relativistic models of the Big Bang. Then, from the 1970s to the 1990s, cosmologists worked on characterizing the features of the Big Bang universe and resolving outstanding problems. In 1981, Alan Guth made a breakthrough in theoretical work on resolving certain outstanding theoretical problems in the Big Bang models with the introduction of an epoch of rapid expansion in the early universe he called "inflation". Meanwhile, during these decades, two questions in observational cosmology that generated much discussion and disagreement were over the precise values of the Hubble Constant and the matter-density of the universe (before the discovery of dark energy, thought to be the key predictor for the eventual fate of the universe).