Korea is one of the oldest civilizations in the world, with the nation's founding dating back to 2333 BC by the legendary Dangun Wanggeom. Archaeological research shows that Koreans have inhabited the peninsula as early as the Lower Paleolithic. Following the unification of the Three Korean Kingdoms under Silla in 668 AD, Korea went through the Goryeo and Joseon Dynasty as one nation until the end of the Korean Empire in 1910. Since division and establishment of the modern republic in 1948, South Korea has struggled with the aftermath of Japanese exploitation (1910–1945) and the Korean war (1950–1953). However, as the standard of living and income rose considerably in the 1980s, nationwide demonstrations led to the collapse of the authoritarian government in 1987, and direct and fair elections have been held every 5 years thereafter. Today, South Korea is an established pioneer of stable democracy in Asia, with one of the highest levels of civil liberties and political rights in Asia.