In this episode I give Kuhn's 1973 lecture "Objectivity, Value Judgment, and Theory Choice" (1973). There is a PDF of the lecture here. The book he discusses is The Structure of Scientific Revolutions. I found the clip of Kuhn speaking on a closely related topic in this clip from 1995.
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Thomas Kuhn Lecture: Objectivity, Value Judgment, and Theory Choice (1973)