IID: independently and indistinguishably distributed

The inability of the Bayesian model to accommodate Ellsberg-type behavior is well-known. This paper focuses on another limitation of the Bayesian model, specific to a dynamic setting, namely the inability to permit a distinction between experiments that are identical and those that are only indistinguishable. It is shown that such a distinction is afforded by recursive multiple-priors utility. Two related technical contributions are the proof of a strong LLN for recursive multiple-priors utility and the extension to sets of priors of the notion of regularity of a probability measure.     

Interim efficient allocations under uncertainty

This paper considers an exchange economy under uncertainty with asymmetric information. Uncertainty is represented by multiple priors and posteriors of agents who have either Bewley's incomplete preferences or Gilboa-Schmeidler's maximin expected utility preferences. The main results characterize interim efficient allocations under uncertainty; that is, they provide conditions on the sets of posteriors, thus implicitly on the way how agents update the sets of priors, for non-existence of a trade which makes all agents better off at any realization of private information. For agents with the incomplete preferences, the condition is necessary and sufficient, but for agents with the maximin expected utility preferences, the condition is sufficient only. A couple of necessary conditions for the latter case are provided.     

A behavioral characterization of plausible priors

Recent decision theories represent ambiguity via multiple priors, interpreted as alternative probabilistic models of the relevant uncertainty. This paper provides a robust behavioral foundation for this interpretation. A prior P is “plausible” if preferences over some subset of acts admit an expected utility representation with prior P, but not with any other prior Q≠P. Under suitable axioms, plausible priors can be elicited from preferences, and fully characterize them; also, probabilistic sophistication implies that there exists only one plausible prior; finally, “plausible posteriors” can be derived via Bayesian updating. Several familiar decision models are consistent with the proposed axioms.     

Conditional preferences and updating

This paper axiomatizes updating rules for preferences that are not necessarily in the expected utility class. Two sets of results are presented. The first is the axiomatization of conditional preferences. The second consists of the axiomatization of three updating rules: the traditional Bayes rule, the Dempster-Shafer rule, and the generalized Bayes rule. The last rule can be regarded as the updating rule for the multi-prior expected utility (Gilboa and Schmeidler, J. Math. Econom. 18 (1989) 141). Operationally, it is equivalent to updating each prior by the traditional Bayes rule.     

Aggregation of multiple prior opinions

Experts are asked to provide their advice in a situation of uncertainty. They adopt the decision maker?s utility function, but each has a potentially different set of prior probabilities, and so does the decision maker. The decision maker and the experts maximize the minimal expected utility with respect to their sets of priors. We show that a natural Pareto condition is equivalent to the existence of a set Λ of probability vectors over the experts, interpreted as possible allocations of weights to the experts, such that (i) the decision maker?s set of priors is precisely all the weighted-averages of priors, where an expert?s prior is taken from her set and the weight vector is taken from Λ; (ii) the decision maker?s valuation of an act is the minimal weighted valuation, over all weight vectors in Λ, of the experts? valuations.     

Intertemporal equilibria with Knightian uncertainty

We study a dynamic and infinite-dimensional model with incomplete multiple prior preferences. In interior efficient allocations, agents share a common risk-adjusted prior and subjective interest rate. Interior efficient allocations and equilibria coincide with those of economies with subjective expected utility and priors from the agents? multiple prior sets. A specific model with neither risk nor uncertainty at the aggregate level is considered. Risk is always fully insured. For small levels of ambiguity, there exists an equilibrium with inertia where agents also insure fully against Knightian uncertainty. When the level of ambiguity exceeds a critical threshold, full insurance no longer prevails and there exist equilibria with inertia where agents do not insure against uncertainty at all. We also show that equilibria with inertia are indeterminate.     

Revisiting Savage in a conditional world

Summary. I present an axiomatization of subjective expected utility and Bayesian updating in a conditional decision problem. This result improves our understanding of the Bayesian standard from two perspectives: 1) it uses a set of axioms which are weak and intuitive; 2) it provides a formal proof to results on the relation between dynamic consistency, expected utility and Bayesian updating which have never been explicitly proved in a fully subjective framework. Received: December 1, 2000; revised version: February 26, 2001     

Bayesian consistent belief selection

A subjective expected utility agent is given information about the state of the world in the form of a set of possible priors. She is assumed to form her beliefs given this information. A set of priors may be updated according to Bayes' rule, prior-by-prior, upon learning that some state of the world has not obtained. In a model in which information is completely summarized by this set of priors, we show that there exists no decision maker who obeys Bayes' rule, conditions her prior only on the available information (by selecting a belief in the announced set), and who updates the information prior-by-prior using Bayes' rule.     

Justifiable preferences

We characterize preferences over acts that can be represented by a utility function and a multiple-prior, such that an act f is preferred to act g if there is a prior under which the expected utility induced by f is higher than that induced by g. These preferences are referred to as justifiable preferences. We further introduce a generalized model of ambiguity that involves a collection of multiple-priors, namely, multiple multiple-priors and incorporate Bewley?s Knightian model in justifiability: f is preferred to g if, according to at least one set of priors, f is unanimously preferred to g.     

Overlapping risk adjusted sets of priors and the existence of efficient allocations and equilibria with short-selling

The theory of existence of equilibrium with short-selling is reconsidered under risk and ambiguity modelled by risk averse variational preferences. No-arbitrage conditions are given in terms of risk adjusted priors. A sufficient condition for existence of efficient allocations is the overlapping of the interiors of the risk adjusted sets of priors or the inexistence of mutually compatible trades, with non-negative expectation with respect to any risk adjusted prior. These conditions are necessary when agents are not risk neutral at extreme levels of wealths. It is shown that the more uncertainty averse or risk averse the agents, the more likely are efficient allocations and equilibria to exist.     

A note on recursive multiple-priors

This note fills a gap in the proof of recursive multiple-priors utility [L. Epstein, M. Schneider, Recursive multiple priors, J. Econ. Theory 113 (2003) 1-31].     

Foundations of Bayesian theory

This paper states necessary and sufficient conditions for the existence, uniqueness, and updating according to Bayes’ rule, of subjective probabilities representing individuals’ beliefs. The approach is preference based, and the result is an axiomatic subjective expected utility model of Bayesian decision making under uncertainty with state-dependent preferences. The theory provides foundations for the existence of prior probabilities representing decision makers’ beliefs about the likely realization of events and for the updating of these probabilities according to Bayes’ rule.     

Dynamic variational preferences

We introduce and axiomatize dynamic variational preferences, the dynamic version of the variational preferences we axiomatized in [F. Maccheroni, M. Marinacci, A. Rustichini, Ambiguity aversion, robustness, and the variational representation of preferences, Mimeo, 2004], which generalize the multiple priors preferences of Gilboa and Schmeidler [Maxmin expected utility with a non-unique prior, J. Math. Econ. 18 (1989) 141-153], and include the Multiplier Preferences inspired by robust control and first used in macroeconomics by Hansen and Sargent (see [L.P. Hansen, T.J. Sargent, Robust control and model uncertainty, Amer. Econ. Rev. 91 (2001) 60-66]), as well as the classic Mean Variance Preferences of Markovitz and Tobin. We provide a condition that makes dynamic variational preferences time consistent, and their representation recursive. This gives them the analytical tractability needed in macroeconomic and financial applications. A corollary of our results is that Multiplier Preferences are time consistent, but Mean Variance Preferences are not.     

Inattentive agents and disagreement about economic activity

This paper evaluates empirically the (in)consistency of disagreement in survey forecasts with the prediction of sticky information models à la Mankiw-Reis, in which only a fraction of agents update their information sets at every period. To address this issue, a dynamic stochastic general equilibrium (DSGE) model that features agents’ infrequent information updating as well as nominal rigidities is fit to U.S. data. We find that the survey disagreement shares two pivotal characteristics with its model-based counterparts: (i) disagreement can be predicted by agents’ average forecast revisions reflecting the arrival of shocks; and (ii) disagreement exhibits a U-shaped relationship against the deviation of output growth from its steady state. These features arise because the arrival of new information elevates disagreement among informed and uninformed agents. Our findings indicate a substantial degree of infrequent information updating in the survey disagreement. The existing literature often uses survey disagreement as a proxy for macroeconomic uncertainty, but our finding suggests that it is unlikely to be an appropriate measure.     

Proper scoring rules for general decision models

If a decision maker whose behavior conforms to the max-min expected utility model is faced with a scoring rule for a subjective expected utility decision maker, she will always announce a probability belonging to her set of priors; moreover, for any prior in the set, there is a scoring rule inducing the agent to announce that prior. We also show that on the domain of Choquet expected utility preferences with risk neutral lottery evaluation and totally monotone capacities, proper scoring rules do not exist. This implies the non-existence of proper scoring rules for any larger class of preferences (CEU with convex capacities, multiple priors).     

Nest-monotonic two-stage acts and exponential probability capacities

This paper examines conditions for Choquet expected utility (CEU) to satisfy both the reduction of two-stage acts and the recursion axioms, which are taken for granted in economics. A key idea of this paper is to consider nest-monotonic two-stage acts, which share their rankings of states with those of their reduced one-stage acts. Our main theorem shows that the axioms, one of which is restricted to nest-monotonic two-stage acts, and consequentialism are satisfied if and only if the preference is exponential CEU, which is such that the probability capacity is an exponential transformation of a probability measure. This result indicates that within a specified range of decision problems, exponential CEU is the only form of CEU that derives indifference to the timing of information resolution. Furthermore, the relation between first- and second-stage exponential CEU is characterized both by the f*-Bayesian updating rule and by comonotonic dynamic consistency. Conditions to establish the law of iterated expectation for CEU are also discussed.     

The dynamics of efficient asset trading with heterogeneous beliefs

This paper analyzes the dynamic properties of portfolios that sustain dynamically complete markets equilibrium when agents have heterogeneous priors. We argue that the conventional wisdom that belief heterogeneity generates continuous trade and significant fluctuations in individual portfolios may be correct but it needs some qualifications. We consider an infinite horizon stochastic endowment economy populated by many Bayesian agents with heterogeneous priors over the stochastic process of the states of nature. Our approach hinges on studying the portfolios that decentralize Pareto optimal allocations. Since these allocations are typically history dependent, we propose a methodology to provide a complete recursive characterization when agents believe that the process of states of nature is i.i.d. but disagree about the probability of the states. We show that even though heterogeneous priors within that class can indeed generate genuine changes in the portfolios of any dynamically complete markets equilibrium, these changes vanish with probability one if the true process consists of i.i.d. draws from a common distribution and the support of some agent's prior belief contains the true distribution. Finally, we provide examples in which asset trading does not vanish because either (i) no agent learns the true conditional probability of the states or (ii) some agent does not know the true process generating the data is i.i.d.     

Unambiguous events and dynamic Choquet preferences

This paper explores the relationship between dynamic consistency and existing notions of unambiguous events for Choquet expected utility preferences. A decision maker is faced with an information structure represented by a filtration. We show that the decision maker’s preferences respect dynamic consistency on a fixed filtration if and only if the last stage of the filtration is composed of unambiguous events in the sense of Nehring (Math Social Sci 38:197–213, 1999). Adopting two axioms, conditional certainty equivalence consistency and constrained dynamic consistency to filtration measurable acts, it is shown that the decision maker respects these two axioms on a fixed filtration if and only if the last stage of the filtration is made up of unambiguous events in the sense of Zhang (Econ Theory 20:159–181, 2002).     

Half empty, half full and why we can agree to disagree forever

Aumann [Aumann R., 1976. Agreeing to disagree. Annals of Statisitics 4, 1236–1239] derives his famous we cannot agree to disagree result under the assumption that people are expected utility (=EU) decision makers. Motivated by empirical evidence against EU theory, we study the possibility of agreeing to disagree within the framework of Choquet expected utility (=CEU) theory which generalizes EU theory by allowing for ambiguous beliefs. As our first main contribution, we show that people may well agree to disagree if their Bayesian updating of ambiguous beliefs is psychologically biased in our sense. Remarkably, this finding holds regardless of whether people with identical priors apply the same psychologically biased Bayesian update rule or not. As our second main contribution, we develop a formal model of Bayesian learning under ambiguity. As a key feature of our approach the posterior subjective beliefs do, in general, not converge to “true” probabilities which is in line with psychological evidence against converging learning behavior. This finding thus formally establishes that CEU decision makers may even agree to disagree in the long-run despite the fact that they always received the same information.     

A note on Kuhn’s Theorem with ambiguity averse players

Kuhn’s Theorem shows that extensive games with perfect recall can equivalently be analyzed using mixed or behavioral strategies, as long as players are expected utility maximizers. This note constructs an example that illustrates the limits of Kuhn’s Theorem in an environment with ambiguity averse players who use a maxmin decision rule and full Bayesian updating.