UNIQUENESS OF EQUILIBRIUM PAYOFFS IN FINITELY REPEATED GAMES WITH IMPERFECT MONITORING*

This paper examines when a finitely repeated game with imperfect monitoring has a unique equilibrium payoff vector. This problem is nontrivial under imperfect monitoring, because uniqueness of equilibrium (outcome) in the stage game does not extend to finitely repeated games. A (correlated) equilibrium is equilibrium minimaxing if any player's equilibrium payoff is her minimax value when the other players choose a correlated action profile from the actions played in the equilibrium. The uniqueness result holds if all stage game correlated equilibria are equilibrium minimaxing and have the same payoffs. The uniqueness result does not hold under weaker conditions.     

Finitely repeated games with monitoring options

We study finitely repeated games where players can decide whether to monitor the other players? actions or not every period. Monitoring is assumed to be costless and private. We compare our model with the standard one where the players automatically monitor each other. Since monitoring other players never hurts, any equilibrium payoff vector of a standard finitely repeated game is an equilibrium payoff vector of the same game with monitoring options. We show that some finitely repeated games with monitoring options have sequential equilibrium outcomes which cannot be sustained under the standard model, even if the stage game has a unique Nash equilibrium. We also present sufficient conditions for a folk theorem, when the players have a long horizon.     

Finitely repeated games with social preferences

A well-known result from the theory of finitely repeated games states that if the stage game has a unique equilibrium, then there is a unique subgame perfect equilibrium in the finitely repeated game in which the equilibrium of the stage game is being played in every period. Here I show that this result does in general not hold anymore if players have social preferences of the form frequently assumed in the recent literature, for example in the inequity aversion models of Fehr and Schmidt (Quartely Journal of Economics 114:817–868, 1999) or Bolton and Ockenfels (American Economic Review 100:166–193, 2000). In fact, repeating the unique stage game equilibrium may not be a subgame perfect equilibrium at all. This finding should have relevance for all experiments with repeated interaction, whether with fixed, random or perfect stranger matching.     

A “Super” Folk Theorem for dynastic repeated games

We analyze dynastic repeated games. These are repeated games in which the stage game is played by successive generations of finitely-lived players with dynastic preferences. Each individual has preferences that replicate those of the infinitely-lived players of a standard discounted infinitely-repeated game. Individuals live one period and do not observe the history of play that takes place before their birth, but instead create social memory through private messages received from their immediate predecessors. Under mild conditions, when players are sufficiently patient, all feasible payoff vectors (including those below the minmax of the stage game) can be sustained by sequential equilibria of the dynastic repeated game with private communication. In particular, the result applies to any stage game with n  ≥  4 players for which the standard Folk Theorem yields a payoff set with a non-empty interior. We are also able to characterize fully the conditions under which a sequential equilibrium of the dynastic repeated game can yield a payoff vector not sustainable as a subgame perfect equilibrium of the standard repeated game. For this to be the case it must be that the players’ equilibrium beliefs violate a condition that we term “inter-generational agreement.” A previous version of this paper was circulated as Anderlini et al. (2005). We are grateful to Jeff Ely, Leonardo Felli, Navin Kartik, David Levine, Stephen Morris, Michele Piccione, Andrew Postlewaite, Lones Smith and to seminar audiences at Bocconi, Cambridge, CEPR-Guerzensee, Chicago, Columbia, Edinburgh, Essex, Georgetown, Leicester, LSE, Northwestern, Oxford, Rome (La Sapienza), Rutgers, SAET-Vigo, Stanford, SUNY-Albany, UCL, UC-San Diego, Venice and Yale for helpful feedback.     

The optimal degree of cooperation in the repeated Prisoners' Dilemma with side payments

In the infinitely repeated Prisoners' Dilemma with side payments, we characterize the Pareto frontier of the set of subgame perfect equilibrium payoffs for all possible combinations of discount factors. Play paths implementing Pareto dominant equilibrium payoffs are uniquely determined in all but the first period. Full cooperation does not necessarily implement these payoffs even when it maximizes total stage game payoffs. Rather, when the difference in players' discount factors is sufficiently large, Pareto dominant equilibrium payoffs are implemented by partial cooperation supported by repeated payments from the impatient to the patient player. When both players are sufficiently patient, such payoffs, while implemented via full cooperation, are supported by repeated payments from the impatient to the patient player. We characterize conditions under which public randomization has no impact on the Pareto dominant equilibrium payoffs and conditions under which such payoffs are robust to renegotiation.     

Strategic Buyers and Privately Observed Prices

A model of finitely repeated price competition between two sellers with differentiated goods and a large buyer is analyzed. The set of pure strategy sequential equilibria is investigated under public and private monitoring. With private monitoring, i.e., when prices are not observable to the competing sellers, all sales are made by the better seller and the set of repeated game equilibrium payoffs coincides with the stage game subgame perfect equilibrium payoffs. This is in sharp contrast to the game with perfect monitoring where the folk theorem obtains. Journal of Economic Literature Classification Numbers: C72, D43.     

Repeated games with present-biased preferences

We study infinitely repeated games with perfect monitoring, where players have β-δ preferences. We compute the continuation payoff set using recursive techniques and then characterize equilibrium payoffs. We then explore the cost of the present-time bias, producing comparative statics. Unless the minimax outcome is a Nash equilibrium of the stage game, the equilibrium payoff set is not monotonic in β or δ. Finally, we show how the equilibrium payoff set is contained in that of a repeated game with smaller discount factor.     

Batch queues with choice of arrivals: Equilibrium analysis and experimental study

We study the decisions agents make in two queueing games with endogenously determined arrivals and batch service. In both games, agents are asked to independently decide when to join a queue, or they may simply choose not to join it at all. The symmetric mixed-strategy equilibrium of two games in discrete time where balking is prohibited and where it is allowed are tested experimentally in a study that varies the game type (balking vs. no balking) and information structure (private vs. public information). With repeated iterations of the stage game, all four experimental conditions result in aggregate, but not individual, behavior approaching mixed-strategy equilibrium play. Individual behavior can be accounted for by relatively simple heuristics.     

Strategic complexity in repeated extensive games

This paper studies a machine (finite automaton) playing a two-player repeated game of a simple extensive-form game with perfect information. We introduce a new complexity measure called multiple complexity which incorporates a strategyʼs responsiveness to information in the stage game as well as the number of states of the machine. We completely characterize the Nash equilibrium of the machine game. In the sequential-move prisonerʼs dilemma, cooperation can be sustained as an equilibrium.     

A folk theorem for minority games

We study a particular case of repeated games with public signals. In the stage game an odd number of players have to choose simultaneously one of two rooms. The players who choose the less crowded room receive a reward of one euro (whence the name “minority game”). The players in the same room do not recognize each other, and between the stages only the current majority room is publicly announced. We show that in the infinitely repeated game any feasible payoff can be achieved as a uniform equilibrium payoff, and as an almost sure equilibrium payoff. In particular we construct an inefficient equilibrium where, with probability one, all players choose the same room at almost all stages. This equilibrium is sustained by punishment phases which use, in an unusual way, the pure actions that were played before the start of the punishment.     

Nash equilibrium when players account for the complexity of their forecasts

Nash equilibrium is often interpreted as a steady state in which each player holds the correct expectations about the other players' behavior and acts rationally. This paper investigates the robustness of this interpretation when there are small costs associated with complicated forecasts. The model consists of a two-person strategic game in which each player chooses a finite machine to implement a strategy in an infinitely repeated 2×2 game with discounting. I analyze the model using a solution concept called Nash Equilibrium with Stable Forecasts (ESF). My main results concern the structure of equilibrium machine pairs. They provide necessary and sufficient conditions on the form of equilibrium strategies and plays. In contrast to the “folk theorem,” these structural properties place severe restrictions on the set of equilibrium paths and payoffs. For example, only sequences of the one-shot Nash equilibrium can be generated by any ESF of the repeated game of chicken.     

How complex are networks playing repeated games?

Summary. This paper examines implications of complexity cost in implementing repeated game strategies through networks with finitely many classifiers. A network consists of individual classifiers that summarize the history of repeated play according to a weighted sum of the empirical frequency of the outcomes of the stage game, and a decision unit that chooses an action in each period based on the summaries of the classifiers. Each player maximizes his long run average payoff, while minimizing the complexity cost of implementing his strategy through a network, measured by its number of classifiers. We examine locally stable equilibria where the selected networks are robust against small perturbations. In any locally stable equilibrium, no player uses a network with more than a single classifier. Moreover, the set of locally stable equilibrium payoff vectors lies on two line segments in the payoff space of the stage game. Received: May 9, 1997; revised version: November 18, 1997     

Equilibrium selection in similar repeated games: experimental evidence on the role of precedents

We report on an experiment examining behavior and equilibrium selection in two similar, infinitely repeated games, Stag Hunt and Prisoner’s Dilemma under anonymous random matching. We are interested in the role that historical precedents may play for equilibrium selection between these two repeated games. We find that a precedent for efficient play in the repeated Stag Hunt game does not carry over to the repeated Prisoner’s Dilemma game despite the possibility that efficient play can be sustained as an equilibrium of the indefinitely repeated game. Similarly, a precedent for inefficient play in the repeated Prisoner’s Dilemma game does not extend to the repeated Stag Hunt game. We conclude that equilibrium selection between similar repeated games may have less to do with historical precedents and might instead depend more on strategic considerations associated with the different payoffs of these similar repeated games.     

Reciprocity Game

This paper shows that reciprocity comes from the desire to cooperate in finitely repeated prisoner's dilemma game. Before playing the finitely repeated prisoner's dilemma game, players choose the reciprocity level and commit to it, and the reciprocity level is public information. There are T equilibria if the prisoner's dilemma game is repeated for T periods, and each equilibrium is associated with different levels of cooperation. Further, if players choose their reciprocity levels sequentially, then the most cooperative equilibrium will be the unique equilibrium. However, reciprocity does not matter for the one‐period game and the infinitely repeated game.     

A Folk Theorem for Repeated Sequential Games

We study repeated sequential games where players may not move simultaneously in stage games. We introduce the concept of effective minimax for sequential games and establish a Folk theorem for repeated sequential games. The Folk theorem asserts that any feasible payoff vector where every player receives more than his effective minimax value in a sequential stage game can be supported by a subgame perfect equilibrium in the corresponding repeated sequential game when players are sufficiently patient. The results of this paper generalize those of Wen (1994), and of Fudenberg and Maskin (1986). The model of repeated sequential games and the concept of effective minimax provide an alternative view to the Anti–Folk theorem of Lagunoff and Matsui (1997) for asynchronously repeated pure coordination games.     

Dismissals and quits in repeated games

This paper studies repeated games, where player 1 can decide to let the opponent continue or replace her by a new player. We also allow for the possibility of player 2 quitting the game. When only layoffs can occur, a folk theorem for finite horizons obtains due to the threat that termination of the relationship imposes on player 2. However, quits limit this result to those cases in which the outside option for player 2 is small (lower than some Nash equilibrium payoff of the stage game).     

Repetition and signalling: experimental evidence from games with efficient equilibria

We report experiments where subjects generally fail to attain the efficient equilibrium of a one-shot game, but attain the efficient equilibrium of the repeated version. The results suggest that in the repeated game actions are used to signal future intentions.     

Evolutionary Stability in the Finitely Repeated Prisoner 's Dilemma Game

The dynamic evolutionary stability of mutual defection is proven for the repeated prisoner 's dilemma game where payoffs are cumulative and the number of repetitions is known. This agrees with the classical result that the only Nash equilibrium outcome is to defect at all stages of this repeated game. Moreover, it is shown that, for any initial polymorphic population, the evolutionary dynamic converges to a unique Nash equilibrium strategy that depends on the original polymorphism. Both these results confirm earlier conjectures concerning the application of evolutionary game theory to the repeated prisoner 's dilemma.Journal of Economic LiteratureClassification Numbers: C70, C72.     

Endogenous leadership and sustainability of enhanced cooperation in a repeated interactions model of tax competition: Endogenous leadership in tax competition

In this study, the endogenous timing of moves is analyzed in an infinitely repeated game setting of capital tax competition between a subgroup (a tax union) of countries agreeing on partial tax harmonization and outside countries. It is shown that in a subgame perfect equilibrium of the infinitely repeated tax competition game, they simultaneously set capital taxes in every stage game when a tax union comprises similar countries with respect to productivity, whereas they may set capital taxes sequentially in every stage game when a tax union comprises dissimilar countries. This finding is significantly different from Ogawa (2013), although we also assume that capital is owned by the country's residents, as in Ogawa's model. This is because a disadvantaged member country of the tax union would suffer from larger losses when a tax union comprising dissimilar countries, and thus the tax union will choose the strategy of moving Late for the sake of sustaining tax harmonization to avoid such losses.     

Vertical integration, raising rivals’ costs and upstream collusion

This paper analyzes the impact vertical integration has on upstream collusion when the price of the input is linear. As a first step, the paper derives the collusive equilibrium that requires the lowest discount factor in the infinitely repeated game when one firm is vertically integrated. It turns out this is the joint-profit maximum of the colluding firms. The discount factor needed to sustain this equilibrium is then shown to be unambiguously lower than the one needed for collusion in the separated industry. While the previous literature has found it difficult to reconcile raising-rivals’-costs strategies following a vertical merger with equilibrium behavior in the static game, they are subgame perfect in the repeated game studied here.