The Korean Peninsula was inhabited as early as the Lower Paleolithic period. Its first kingdom was noted in Chinese records in the early seventh century BC. From the mid first century BC,[10] various polities consolidated into the rival kingdoms of Goguryeo, Baekje, and Silla. The lattermost eventually unified most of the peninsula for the first time in the late seventh century AD, while Balhae succeeded Goguryeo in the north. The Goryeo dynasty (918–1392) achieved lasting unification and established the basis for the modern Korean identity. The subsequent Joseon dynasty (1392–1897) generated cultural, economic, and scientific achievements but maintained an isolationist policy from the mid-17th century. The succeeding Korean Empire (1897–1910) sought modernization and reform but was annexed in 1910 into the Empire of Japan. Japanese rule ended following Japan's surrender in World War II, after which Korea was divided into two zones: the Soviet-occupied northern zone and the United States-occupied southern zone.