Perfect communication equilibria in repeated games with imperfect monitoring

This paper introduces an equilibrium concept called perfect communication equilibrium for repeated games with imperfect private monitoring. This concept is a refinement of Myerson's [Myerson, R.B., 1982. Optimal coordination mechanisms in generalized principal agent problems, J. Math. Econ. 10, 67–81] communication equilibrium. A communication equilibrium is perfect if it induces a communication equilibrium of the continuation game, after every history of messages of the mediator. We provide a characterization of the set of corresponding equilibrium payoffs and derive a Folk Theorem for discounted repeated games with imperfect private monitoring.     

Perfect communication equilibria in repeated games with imperfect monitoring

This paper introduces an equilibrium concept called perfect communication equilibrium for repeated games with imperfect private monitoring. This concept is a refinement of Myerson's [Myerson, R.B., 1982. Optimal coordination mechanisms in generalized principal agent problems, J. Math. Econ. 10, 67–81] communication equilibrium. A communication equilibrium is perfect if it induces a communication equilibrium of the continuation game, after every history of messages of the mediator. We provide a characterization of the set of corresponding equilibrium payoffs and derive a Folk Theorem for discounted repeated games with imperfect private monitoring.     

Learning from private information in noisy repeated games

We study the perfect type-contingently public ex-post equilibrium (PTXE) of repeated games where players observe imperfect public signals of the actions played, and both the payoff functions and the map from actions to signal distributions depend on an unknown state. The PTXE payoffs when players are patient are determined by the solutions to a family of linear programming problems. Using this characterization, we develop conditions under which play can be as if the players have learned the state. We provide a sufficient condition for the folk theorem, and a characterization of the PTXE payoffs in games with a known monitoring structure.     

On Renegotiation-Proof Equilibria in Finitely Repeated Games

This paper studies renegotiation-proof equilibria of Beno?̂t and Krishna (1993) in finitely repeated games with more than two players. We provide a simple characterization of the set of average payoffs from renegotiation-proof equilibria: the limiting set of average equilibrium payoffs is either efficient or dimensionally small as the horizon of the repeated game goes to infinity. Two sufficient conditions for the former to occur are provided. An example shows that those conditions cannot be weakened.Journal of Economic LiteratureClassification 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.     

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.     

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.     

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.     

Bargaining in a non-stationary environment

We study an alternating offers bargaining model in which the set of possible utility pairs evolves through time in a non-stationary, but smooth manner. In general, there exists a multiplicity of subgame perfect equilibria. However, we show that in the limit as the time interval between two consecutive offers becomes arbitrarily small, there exists a unique subgame perfect equilibrium. Furthermore, we derive a powerful characterization of the unique (limiting) subgame perfect equilibrium payoffs. We then explore the circumstances under which Nash's bargaining solution implements this bargaining equilibrium. Finally, we extend our results to the case when the players have time-varying inside options.     

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.     

Representing equilibrium aggregates in aggregate games with applications to common agency

An aggregate game is a normal-form game with the property that each playerʼs payoff is a function of only his own strategy and an aggregate of the strategy profile of all players. Such games possess properties that can often yield simple characterizations of equilibrium aggregates without requiring that one solves for the equilibrium strategy profile. When payoffs have a quasi-linear structure and a degree of symmetry, we construct a self-generating maximization program over the space of aggregates with the property that the solution set corresponds to the set of equilibrium aggregates of the original n-player game. We illustrate the value of this approach in common-agency games where the playersʼ strategy space is an infinite-dimensional space of nonlinear contracts. We derive equilibrium existence and characterization theorems for both the adverse selection and moral hazard versions of these games.     

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.     

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.     

Bargaining foundations of the median voter theorem

We give a game-theoretic foundation for the median voter theorem in a one-dimensional bargaining model based on Baron and Ferejohn's [D. Baron, J. Ferejohn, Bargaining in legislatures, Amer. Polit. Sci. Rev. 83 (1989) 1181-1206] model of distributive politics. We prove that as the agents become arbitrarily patient, the set of proposals that can be passed in any pure strategy, subgame perfect equilibrium collapses to the median voter's ideal point. While we leave the possibility of some delay, we prove that the agents' equilibrium continuation payoffs converge to the utility from the median, so that delay, if it occurs, is inconsequential. We do not impose stationarity or any other refinements. Our result counters intuition based on the folk theorem for repeated games, and it contrasts with the known result for the distributive bargaining model that as agents become patient, any division of the dollar can be supported as a subgame perfect equilibrium outcome.     

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.     

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.     

Multiple solutions under quasi-exponential discounting

Infinite horizon dynamic optimization problems with non-exponential time preferences may not only exhibit time inconsistency but may also have multiple solutions with distinct payoffs. We here show that such multiplicity is generic in the sense that it occurs in an open set of such decision problems, even with small state- and action-spaces. Non-exponential discounting allows for an “addictive” equilibrium alongside a “virtuous” equilibrium. We also provide a sufficient condition for uniqueness in infinitely repeated decision problems with general action spaces. Authors thank Philippe Jehiel, Maria Saez-Marti and Bill Sandholm for comments to an earlier version, and the Knut and Alice Wallenberg Research Foundation for financial support.     

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.     

Information can wreck cooperation: A counterpoint to Kandori (1992)

We propose a simple model of repeated games with private monitoring and time-varying information structures. We then obtain an example demonstrating that the set of achievable equilibrium payoffs may shrink when players' information regarding opponents' information structures is increased.     

Alternating-Offer Bargaining with Two-Sided Incomplete Information

I study alternating-offer bargaining games with two-sided incomplete information about the players' discount rates. For both perfect Bayesian equilibrium and a rationalizability-style notion, I characterize the set of expected payoffs which may arise in the game. I also construct bounds on agreements that may be made. The set of expected payoffs is easy to compute and incorporate into applied models. My main result is a full characterization of the set of perfect Bayesian equilibrium payoffs for games in which the distribution over the players' discount rates is of wide support, yet is in a weak sense close to a point mass distribution. I prove a lopsided convergence result: each player cannot gain from a slight chance that she is a strong type, but the player can suffer greatly if there is a slight chance that she is a weak type.