Nano (p. 113) quotes Eric Drexler describing the time he first met Richard Feynman at a party:

We talked about the PNAS article [on nanotechnology], and generally he indicated that, yeah, this was a sensible thing… at one point I was talking about the need for institutions to handle some of the problems [nanotechnology] raised, and [Feynman] remarked [that] institutions were made up of people and therefore of fools.

Feynman sounds downright Yudkowskian on this point, if you ask me. 🙂