Renegotiation-proof relational contracts

We study infinitely repeated two-player games with perfect monitoring and assume that each period consists of two stages: one in which the players simultaneously choose an action and one in which they can transfer money to each other. In the first part of the paper, we derive simple conditions that allow a constructive characterization of all Pareto-optimal subgame perfect payoffs for all discount factors. In the second part, we examine different concepts of renegotiation-proofness and extend the characterization to renegotiation-proof payoffs.     

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.     

Infinite Histories and Steady Orbits in Repeated Games

We study a model of repeated games with the following features: (a) Infinite histories. The game has been played since days of yore, or is so perceived by the players: (b) Turing machines with memory. Since regular Turing machines coincide with bounded recall strategies (in the presence of infinite histories), we endow them with "external" memory; (c) Nonstrategic players. The players ignore complicated strategic considerations and speculations about them. Instead, each player uses his/her machine to update some statistics regarding the others′ behaviour, and chooses a best response to observed behaviour. Relying on these assumptions, we define a solution concept for the one shot game, called steady orbit. The (closure of the) set of steady orbit payoffs strictly includes the convex hull of the Nash equilibria payoffs and is strictly included in the correlated equilibria payoffs. Assumptions (a)–(c) above are independent to a large extent. In particular, one may define steady orbits without explicitly dealing with histories or machines.     

Renegotiation-proof contract in repeated agency

Renegotiation-proof contracts are studied in infinitely repeated principal–agent problem. Contracts satisfying a weaker notion of renegotiation-proofness always exist. The renegotiation-proof value function has a simple characterization: It is the principal's optimal value function when an appropriate lower bound is placed on the agent's expected utility. Sufficient conditions are provided for renegotiation-proof value function in finite horizon to converge to renegotiation-proof value function in infinite horizon as time goes to infinity.     

Communication in Repeated Games with Private Monitoring

The paper considers repeated games where each player can be observed by only a subset of the other players, and where players can make public announcements about the behavior of the players they observed. We address the following question: What is the minimal level of observability that is required to obtain efficient outcomes? The main result is that the limit set of sequential equilibrium payoffs, when the discount factor tends to one, contains the set of individual rational payoffs whenever each player is observed by at leasttwoother players.Journal of Economic LiteratureClassification Number: C73.     

Restricted feedback in long term relationships

This paper studies long term relationships, modeled as repeated games, with restricted feedback. Players condition current play on summary statistics of past play rather than the entire history, as may be the case in online markets. Our state strategy equilibrium framework allows for arbitrary restrictions on strategies. We derive a recursive characterization for the set of equilibrium payoffs similar to that of Abreu, Pearce, and Stacchetti (1986, 1990) [2], [3] for perfect public equilibria and show that the set of equilibrium payoffs is the largest fixed point of a monotone operator. We use our characterization to derive necessary and sufficient conditions for efficient trade in a repeated product choice game where costumers condition their purchase decisions only on the last performance signal.     

Spatial Evolution of Social Norms in a Common-Pool Resource Game

We study the conditions for the emergence of cooperation in a spatial common-pool resource (CPR) game. We consider three types of agents: cooperators, defectors and enforcers. The role of enforcers is to punish defectors for overharvesting the resource. Agents are located on a circle and they only observe the actions of their two nearest neighbors. Their payoffs are determined by both local and global interactions and they modify their actions by imitating the strategy in their neighborhood with the highest average payoffs on average. Using theoretical and numerical analysis, we find a large diversity of equilibria to be the outcome of the game. In particular, we find conditions for the occurrence of equilibria in which the three strategies coexist. We also derive the stability of these equilibria. Finally, we show that introducing resource dynamics in the system favors the occurrence of cooperative equilibria.      

Renegotiation in Repeated Games with Side-Payments

We consider repeated games with side-payments: players have an endowment of wealth in each period in which transfers can be made. We show that if endowments are large enough and the common discount factor high enough, then a strongly renegotiation–proof equilibrium (SRP) in the sense of Farrell and Maskin exists. As the discount factor goes to 1, the set of SRP payoffs converges to the set of efficient, individually rational payoffs. These results provide a justification for the efficiency principle when agreements are not enforceable. Journal of Economic Literature Classification Numbers: C73, D23, L14.     

A limit characterization of belief-free equilibrium payoffs in repeated games

The present paper studies repeated games with private monitoring, and characterizes the set of belief-free equilibrium payoffs in the limit as the discount factor approaches one and the noise on private information vanishes. Contrary to the conjecture by Ely et al. [J.C. Ely, J. Hörner, W. Olszewski, Belief-free equilibria in repeated games, Econometrica 73 (2005) 377-415], the equilibrium payoff set is computed by the same formula, no matter how many players there are. As an application of this result, a version of the folk theorem is established for N-player prisoner's dilemma games.     

Evolution of Interdependent Preferences in Aggregative Games

We study the evolution of preference interdependence in aggregative games which are symmetric with respect to material payoffs but asymmetric with respect to player objective functions. We identify a class of aggregative games whose equilibria have the property that the players with interdependent preferences (who care not only about their own material payoffs but also about their payoffs relative to others) earn strictly higher material payoffs than do the material payoff maximizers. Implications of this finding for the theory of preference evolution are discussed. Journal of Economic Literature Classification Numbers: C72, D62.     

Infinitely repeated games with public monitoring and monetary transfers

This paper studies infinitely repeated games with imperfect public monitoring and the possibility of monetary transfers. It is shown that all public perfect equilibrium payoffs can be implemented with a simple class of stationary equilibria that use stick-and-carrot punishments. A fast algorithm is developed that exactly computes the set of pure strategies equilibrium payoffs for all discount factors.     

On the limit perfect public equilibrium payoff set in repeated and stochastic games

This paper provides a dual characterization of the existing ones for the limit set of perfect public equilibrium payoffs in a class of finite stochastic games (in particular, repeated games) as the discount factor tends to one. As a first corollary, the folk theorems of Fudenberg et al. (1994), Kandori and Matsushima (1998) and Hörner et al. (2011) obtain. As a second corollary, it is shown that this limit set of payoffs is a convex polytope when attention is restricted to perfect public equilibria in pure strategies. This result fails for mixed strategies, even when attention is restricted to two-player repeated games.     

Communication equilibrium payoffs in repeated games with imperfect monitoring

We characterize the set of communication equilibrium payoffs of any undiscounted repeated matrix-game with imperfect monitoring and complete information. For two-player games, a characterization is provided by Mertens, Sorin, and Zamir (Repeated games, Part A (1994) CORE DP 9420), mainly using Lehrer's (Math. Operations Res. (1992) 175) result for correlated equilibria. The main result of this paper is to extend this characterization to the n-player case. The proof of the characterization relies on an analogy with an auxiliary 2-player repeated game with incomplete information and imperfect monitoring. We use Kohlberg's (Int. J. Game Theory (1975) 7) result to construct explicitly a canonical communication device for each communication equilibrium payoff.     

Bertrand Games and Sharing Rules

We consider asymmetric Bertrand games with arbitrary payoffs at ties or sharing rules, and identify sufficient conditions for the zero-profit outcome and the existence of Nash equilibria. Subject to some technical conditions on non-tied payoffs the following hold. If the sharing rule is strictly tie-decreasing all players but one receive zero equilibrium payoffs, while everybody does so if non-tied payoffs are symmetric. Mixed (pure) strategy Nash equilibria exist if the sharing rule is (norm) tie-decreasing and coalition-monotone. I would like to thank Fernando Branco, the audience at Pompeu Fabra (Barcelona), ISEG (Lisbon), University of Mannheim, ESEM 2003 (Venice), EARIE 2005 (Porto), two anonymous referees, and the editor Dan Kovenock for very useful comments. This research received financial support under project POCTI/ECO/37925/2001 of FCT and FEDER.     

Nash Equilibria of Repeated Games with Observable Payoff Vectors

We study a model of repeated games with imperfect monitoring where the payoff vector is observable. In this situation, any profitable deviation is detectable by all the players but the identity of the deviator may be unknown. We design collective punishments directed against the set of potential deviators. A particular class of signals is studied for which a characterization of the set of equilibrium payoffs is obtained. Journal of Economic Literature Classification Numbers: C73.     

The Three-Legged Race: Cooperating to Compete

In the prisoners' dilemma contest several couples play the finitely repeated prisoners' dilemma. Each time a couple cooperates, it scores a point, and a small prize is awarded to the winners. An analogue of the “folk” theorem for repeated games is obtained with subgame perfect equilibrium (SPE). Next, allowing renegotiations within each team, we study a solution concept based on renegotiation-proof equilibrium (RPE). If couples are informed about the score, no equilibrium exists. If they are not, cooperation is the unique equilibrium outcome.Journal of Economic LiteratureClassification Number: C72.     

Evolution and Mixed Strategies

Selten (1980, J. Theoret. Biol., 84, 93–101) showed that no mixed equilibria are evolutionarily stable when players can condition their strategies on their roles in a game. Alternatively, Harsanyi's (1973, Int. J. Game Theory, 2, 1–23) purification argument implies that all mixed equilibria are approximations of strict, and hence evolutionarily stable, equilibria of games with slightly perturbed payoffs. This paper reconciles these results: Approximations of mixed equilibria have high invasion barriers, and hence are likely to persist, when payoff perturbations are relatively important and role identification is relatively noisy. When payoff perturbations are unimportant and role identification is precise, approximations of mixed equilibria will have small invasion barriers and are unlikely to persist. Journal of Economic Literature Classification Numbers: C70, C78.     

Communication in dynastic repeated games: ‘Whitewashes’ and ‘coverups’

Summary. We ask whether communication can directly substitute for memory in dynastic repeated games in which short lived individuals care about the utility of their offspring who replace them in an infinitely repeated game. Each individual is unable to observe what happens before his entry in the game. Past information is therefore conveyed from one cohort to the next by means of communication.When communication is costless and messages are sent simultaneously, communication mechanisms or protocols exist that sustain the same set of equilibrium payoffs as in the standard repeated game. When communication is costless but sequential, the incentives to whitewash the unobservable past history of play become pervasive. These incentives to whitewash can only be countered if some player serves as a neutral historian who verifies the truthfulness of others reports while remaining indifferent in the process. By contrast, when communication is sequential and (lexicographically) costly, all protocols admit only equilibria that sustain stage Nash equilibrium payoffs.We also analyze a centralized communication protocol in which history leaves a footprint that can only hidden by the current cohort by a unanimous coverup. We show that in this case the set of payoffs that are sustainable in equilibrium coincides with the weakly renegotiation proof payoffs of the standard repeated game.Received: 30 September 2002, Revised: 5 August 2003, JEL Classification Numbers: C72, C73, D82.We wish to thank an Associate Editor and Dino Gerardi as well as seminar participants at Arizona State, Columbia, Duke, Georgetown, Indiana, Montreal, Princeton, Rochester, Vanderbilt, VPI, the 2001 NSF/NBER Decentralization Conference, the Summer 2001 North American Econometric Society Meetings, and the Midwest Theory Conference, 2000, for useful comments and suggestions. All errors are our own.     

Egalitarianism and Efficiency in Repeated Symmetric Games

We analyze the symmetric equilibria of repeated symmetric games where there is a conflict of interests over equilibria—the battle-of-the-sexes or the hawk–dove game are key examples. If one restricts attention to symmetric equilibria, efficient equilibria must be egalitarian. For finitely repeated games, and generic discount factors, there is a unique outcome path which ensures efficiency within the class of symmetric equilibria. This is also true for the infinitely repeated games if the players are sufficiently impatient. Journal of Economic Literature Classification Numbers: C72, C73.     

A Property of Nash Equilibria in Repeated Games with Incomplete Information

We consider two-person non-zero-sum infinitely repeated games with lack of information on one side. The characterization of Nash equilibrium payoffs obtained by Hart allows for complex strategies, which are actually required by some equilibrium payoffs in some games. We show that appropriate one-shot public communication mechanisms make Nash equilibrium payoffs achievable by means of simple strategies. Furthermore, these mechanisms satisfy a notion of self-fulfillment.Journal of Economic LiteratureClassification Numbers: D82, C72.