Hip hop dance refers to dance styles primarily danced to hip hop music or that have evolved as a part of the hip hop culture. This includes a wide range of styles such as breaking, popping, locking, and krumping. Breaking, locking, and popping were developed in the 1970s by Black and Latino Americans. Krumping followed in the 1990s. What separates hip hop dance from other forms of dance is that it is often improvisational (freestyle) in nature and hip hop dancers frequently engage in battles—formal or informal one-on-one dance competitions. Freestyle sessions and battles are usually performed in a cipher, a circular dance space which forms naturally once the dancing begins. It was DJ Afrika Bambaataa that outlined the five pillars of hip hop culture including breaking as one of them (along with rapping, DJing, beatboxing, and graffiti).[1] These dances are popular as a form of physical exercise, as an art form, and for competition. They are practiced today both at dance studios and outside spaces.