The folk theorem for repeated games with observation costs

The folk theorem literature has been relaxing the assumption on how much players know about each other's past action. Here we consider a general model where players can “buy” precise information. Every period, each player decides whether to pay a cost to accurately observe the actions chosen by other players in the previous period. When a player does not pay the cost, he obtains only imperfect private signals. Observational decisions are unobservable to others. Known strategies such as trigger strategies do not work since they fail to motivate players to pay for information. This paper shows that the folk theorem holds for any level of observation costs. Unlike existing folk theorems with private monitoring, ours imposes virtually no restriction on the nature of costless imperfect signals. The theorem does not use explicit or costless communication, thereby having implications on antitrust laws that rely on evidence of explicit communication. The main message is that accurate observation alone, however costly, enables efficient cooperation in general repeated games.     

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.     

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.     

Repeated Games with Almost-Public Monitoring

In repeated games with imperfect public monitoring, players can use public signals to coordinate their behavior, and thus support cooperative outcomes, but with private monitoring, such coordination may no longer be possible. Even though grim trigger is a perfect public equilibrium (PPE) in games with public monitoring, it often fails to be an equilibrium in arbitrarily close games with private monitoring. If a PPE has players' behavior conditioned only on finite histories, then it induces an equilibrium in all close-by games with private monitoring. This implies a folk theorem for repeated games with almost-public almost-perfect monitoring. Journal of Economic Literature Classification Numbers: C72, C73.     

A folk theorem for stochastic games with private almost-perfect monitoring

We prove a folk theorem for stochastic games with private, almost-perfect monitoring and observable states when the limit set of feasible and individually rational payoffs is independent of the state. This asymptotic state independence holds, for example, for irreducible stochastic games. Our result establishes that the sophisticated construction of Hörner and Olszewski (2006) for repeated games can be adapted to stochastic games, reinforcing our conviction that much knowledge and intuition about repeated games carries over to the analysis of irreducible stochastic games.     

Communication in repeated network games with imperfect monitoring

I consider repeated games with private monitoring played on a network. Each player has a set of neighbors with whom he interacts: a player's payoff depends on his own and his neighbors' actions only. Monitoring is private and imperfect: each player observes his stage payoff but not the actions of his neighbors. Players can communicate costlessly at each stage: communication can be public, private or a mixture of both. Payoffs are assumed to be sensitive to unilateral deviations. First, for any network, a folk theorem holds if some Joint Pairwise Identifiability condition regarding payoff functions is satisfied. Second, a necessary and sufficient condition on the network topology for a folk theorem to hold for all payoff functions is that no two players have the same set of neighbors not counting each other.     

A belief-based approach to the repeated prisoners' dilemma with asymmetric private monitoring

This paper extends the belief-based approach to the repeated prisoners' dilemma with asymmetric private monitoring. We first find that the previous belief-based techniques [T. Sekiguchi, Efficiency in repeated prisoners' dilemma with private monitoring, J. Econ. Theory 76 (1997) 345-361; V. Bhaskar, I. Obara, Belief-based equilibria in the repeated prisoners' dilemma with private monitoring, J. Econ. Theory 102 (2002) 40-69] cannot succeed when players' private monitoring technologies are sufficiently different. We then modify the previous belief-based approach by letting the player with smaller observation errors always randomize between cooperate and defect along the cooperative path of the play. We show that with vanishing observation errors, efficiency and a folk theorem can be approximated using our modified belief-based strategies.     

Characterizing belief-free review-strategy equilibrium payoffs under conditional independence

This paper proposes and studies a tractable subset of Nash equilibria, belief-free review-strategy equilibria, in repeated games with private monitoring. The payoff set of this class of equilibria is characterized in the limit as the discount factor converges to one for games where players observe statistically independent signals. As an application, we develop a simple sufficient condition for the existence of asymptotically efficient equilibria, and establish a folk theorem for N-player prisoner?s dilemma. All these results are robust to a perturbation of the signal distribution, and hence remain true even under almost-independent 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.     

Collusion through mediated communication in repeated games with imperfect private monitoring

Summary. This paper studies repeated games with imperfect private monitoring when there exists a third-party mediator who coordinates play by giving non-binding instructions to players on which action to take and by collecting their private information. The paper presents a Nash-threat folk theorem for a communication equilibrium based on such mediation when monitoring is jointly -perfect in the sense that every player is almost perfectly monitored collectively by other players.JEL Classification Numbers: C72, D82.I am very grateful to Mark Armstrong, V. Bhaskar, and Michihiro Kandori for helpful comments. Part of this research was conducted while I was visiting the University College London. Their hospitality is gratefully acknowledged.     

Tacit collusion in repeated auctions

This paper considers the question of tacit collusion in repeated auctions with independent private values and with limited public monitoring. McAfee and McMillan show that the extent of collusion is tied to the availability of transfers. Monetary transfers allow cartels to extract full surplus. A folk theorem proved by Fudenberg et al. (Econometrica 62 (1994) 997-1039) shows that transfers of future payoffs are almost as good if players are patient and communicate before auctions. We ask how the scope of collusion is affected if players dispense with explicit communication and their monitoring is limited. Collusion better than bid rotation is still feasible, but full surplus cannot be extracted. This constraint becomes less severe with more players and large cartels can become asymptotically efficient even with very limited monitoring.     

The Repeated Prisoner's Dilemma with Imperfect Private Monitoring

In this paper, I study a repeated Prisoner's Dilemma game in which monitoring is private and imperfect. A partial folk theorem is proved for the case of almost perfect monitoring.     

Efficiency results in N player games with imperfect private monitoring

We demonstrate that efficiency is achievable in a certain class of N player repeated games with private, almost perfect monitoring. Our equilibrium requires only one period memory and can be implemented by two state automata. Furthermore, we show that this efficiency result holds with any degree of accuracy of monitoring if private signals are hemiindependent. Whereas most existing research focuses on two player cases or only a special example of N player games, our results are applicable to a wide range of N player games of economic relevance, such as trading goods games and price-setting oligopolies.     

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.     

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.     

Self-enforcing collusion in large dynamic markets

The “folk theorem” in game theory implies that any outcome that is better for all players than some single period Nash outcome can be achieved through noncooperative equilibrium in repeated games with discounting. Whether the folk theorem holds for a repeated Cournot oligopoly as the number of firms, N, increases without bound, is investigated. It is shown that the folk theorem holds in the limit iff demand increases at the same rate as the number of firms and the Cournot price sequence is bounded strictly above by the supremum of marginal cost for large N.     

A folk theorem for repeated games played on a network

I consider repeated games on a network where players interact and communicate with their neighbors. At each stage, players choose actions and exchange private messages with their neighbors. The payoff of a player depends only on his own action and on the actions of his neighbors. At the end of each stage, a player is only informed of his payoff and of the messages he received from his neighbors. Payoffs are assumed to be sensitive to unilateral deviations. The main result is to establish a necessary and sufficient condition on the network for a Nash folk theorem to hold, for any such payoff function.     

A Robust Folk Theorem for the Prisoner's Dilemma

We prove the folk theorem for the Prisoner's dilemma using strategies that are robust to private monitoring. From this follows a limit folk theorem: when players are patient and monitoring is sufficiently accurate, (but private and possibly independent) any feasible individually rational payoff can be obtained in sequential equilibrium. The strategies used can be implemented by finite (randomizing) automata. Journal of Economic Literature Classification Numbers: C72, C73, D82.     

Disappearing private reputations in long-run relationships

For games of public reputation with uncertainty over types and imperfect public monitoring, Cripps et al. [Imperfect monitoring and impermanent reputations, Econometrica 72 (2004) 407-432] showed that an informed player facing short-lived uninformed opponents cannot maintain a permanent reputation for playing a strategy that is not part of an equilibrium of the game without uncertainty over types. This paper extends that result to games in which the uninformed player is long-lived and has private beliefs, so that the informed player's reputation is private. The rate at which reputations disappear is uniform across equilibria and reputations also disappear in sufficiently long discounted finitely repeated games.