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.     

Correlated equilibria in continuous games: Characterization and computation

We present several new characterizations of correlated equilibria in games with continuous utility functions. These have the advantage of being more computationally and analytically tractable than the standard definition in terms of departure functions. We use these characterizations to construct effective algorithms for approximating a single correlated equilibrium or the entire set of correlated equilibria of a game with polynomial utility functions.     

Mixed equilibria in games of strategic complementarities

Summary. The literature on games of strategic complementarities (GSC) has focused on pure strategies. I introduce mixed strategies and show that, when strategy spaces are one-dimensional, the complementarities framework extends to mixed strategies ordered by first-order stochastic dominance. In particular, the mixed extension of a GSC is a GSC, the full set of equilibria is a complete lattice and the extremal equilibria (smallest and largest) are in pure strategies. The framework does not extend when strategy spaces are multi-dimensional. I also update learning results for GSC using stochastic fictitious play. Received: October 16, 2000; revised version: March 7, 2002 RID="*" ID="*" I am very grateful to Robert Anderson, David Blackwell, Aaron Edlin, Peter De Marzo, Ted O'Donoghue, Matthew Rabin, Ilya Segal, Chris Shannon, Clara Wang and Federico Weinschelbaum for comments and advise.     

“Very Nice” trivial equilibria in strategic market games

Following Shapley [Theory of Measurement of Economic Externalities, Academic Press, New York, 1976], we study the problem of the existence of a Nash Equilibrium (NE) in which each trading post is either active or “legitimately” inactive, and we call it a Shapley NE. We consider an example of an exchange economy, borrowed from Cordella and Gabszewicz [Games Econ. Behav. 22 (1998) 162–169], which satisfies the assumptions of Dubey and Shubik [J. Econ. Theory 17 (1978) 1–20], and we show that the trivial equilibrium, the unique NE of the associated strategic market game, is not “very nice,” in the sense that it is not “legitimately” trivial. This result has the more general implication that, under the Dubey and Shubik's assumptions, a Shapley NE may fail to exist.     

The envelope theorem for locally differentiable Nash equilibria of finite horizon differential games

Envelope theorems are established for a ubiquitous class of finite horizon differential games. The theorems cover open-loop and feedback information patterns in which the corresponding Nash equilibria are locally differentiable with respect to the parameters of the game. Their relationship with extant envelope results is discussed and an application of them to a generalized capital accumulation game is provided. An important implication of the theorems is that, in general, the archetypal economic interpretation of the costate vector, namely, as the shadow value of the state vector along the Nash equilibrium, is valid for feedback Nash equilibria, but not for open-loop Nash equilibria.     

Learning with perfect information

For extensive form games with perfect information, consider a learning process in which, at any iteration, each player unilaterally deviates to a best response to his current conjectures of others' strategies; and then updates his conjectures in accordance with the induced play of the game. We show that, for generic payoffs, the outcome of the game becomes stationary, and is consistent with Nash equilibrium. In general, if payoffs have ties or if players observe more of each others' strategies than is revealed by plays of the game, the same result holds provided a rationality constraint is imposed on unilateral deviations: no player changes his moves in subgames that he deems unreachable, unless he stands to improve his payoff there. Moreover, with this constraint, the sequence of strategies and conjectures also becomes stationary, and yields a self-confirming equilibrium.     

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.     

The effects of risk preferences in mixed-strategy equilibria of games

We consider the effects of risk preferences in mixed-strategy equilibria of 2×2 games, provided such equilibria exist. We identify sufficient conditions under which the expected payoff in the mixed equilibrium increases or decreases with the degree of risk aversion. We find that (at least moderate degrees of) risk aversion will frequently be beneficial in mixed equilibria.     

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 perfect equilibria in stochastic models of growth with intergenerational altruism

Summary. The well-known model of altruistic growth/strategic bequest is studied. A stochastic transition function is considered and fairly general sufficient conditions for the existence of Markov-stationary subgame-perfect equilibrium are given. Also some special cases in which the equilibrium policy is continuous and nondecreasing are discussed.Received: 20 September 2003, Revised: 11 December 2004, JEL Classification Numbers: C73, D91, O40.Research was partially supported by KBN grant 5 PO3A 01420.     

Existence of nontrivial equilibria in repeated games with imperfect private monitoring

We consider finitely repeated games with imperfect private monitoring, and provide several sufficient conditions for such a game to have an equilibrium whose outcome is different from repetition of Nash equilibria of the stage game. Surprisingly, the conditions are consistent with uniqueness of the stage game equilibrium. A class of repeated chicken is shown to satisfy the condition.     

Asymptotic expected number of Nash equilibria of two-player normal form games

The formula given by McLennan [The mean number of real roots of a multihomogeneous system of polynomial equations, Amer. J. Math. 124 (2002) 49–73] is applied to the mean number of Nash equilibria of random two-player normal form games in which the two players have M and N pure strategies respectively. Holding M fixed while N→∞, the expected number of Nash equilibria is approximately . Letting M=N→∞, the expected number of Nash equilibria is , where is a constant, and almost all equilibria have each player assigning positive probability to approximately 31.5915 percent of her pure strategies.     

Strong comparative statics of equilibria

Some results in the monotone comparative statics literature tell us that if a parameter increases, some old equilibria are smaller than some new equilibria. We give a sufficient condition such that at a new parameter value every old equilibrium is smaller than every new equilibrium. We also adapt a standard algorithm to compute a minimal such newer parameter value and apply this algorithm to a game of network externalities. Our results are independent of a theory of equilibrium selection and are valid for games of strategic complementarities.     

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.     

Infinite horizon common interest games with perfect information

We consider infinite horizon common interest games with perfect information. A game is a K-coordination game if each player can decrease other players' payoffs by at most K times his own cost of punishment. The number K represents the degree of commonality of payoffs among the players. The smaller K is, the more interest the players share. A K-coordination game tapers off if the greatest payoff variation conditional on the first t periods of an efficient history converges to 0 at a rate faster than K^−t as t→∞. We show that every subgame perfect equilibrium outcome is efficient in any tapering-off game with perfect information. Applications include asynchronously repeated games, repeated games of extensive form games, asymptotically finite horizon games, and asymptotically pure coordination games.     

Nash equilibrium and generalized integration for infinite normal form games

Infinite normal form games that are mathematically simple have been treated [ Harris, C.J., Stinchcombe, M.B., Zame, W.R., in press. Nearly compact and continuous normal form games: characterizations and equilibrium existence. Games Econ. Behav.]. Under study in this paper are the other infinite normal form games, a class that includes the normal forms of most extensive form games with infinite choice sets.Finitistic equilibria are the limits of approximate equilibria taken along generalized sequences of finite subsets of the strategy spaces. Points must be added to the strategy spaces to represent these limits. There are direct, nonstandard analysis, and indirect, compactification and selection, representations of these points. The compactification and selection approach was introduced [Simon, L.K., Zame, W.R., 1990. Discontinuous games and endogenous sharing rules. Econometrica 58, 861–872]. It allows for profitable deviations and introduces spurious correlation between players' choices. Finitistic equilibria are selection equilibria without these drawbacks. Selection equilibria have drawbacks, but contain a set-valued theory of integration for non-measurable functions tightly linked to, and illuminated by, the integration of correspondences.     

Cournot–Nash equilibria in continuum games with non-ordered preferences

In the usual framework of continuum games with externalities, we substantially generalize Cournot–Nash existence results [Balder, A unifying approach to existence of Nash equilibria, Int. J.Game Theory 24 (1995) 79–94; On the existence of Cournot–Nash equilibria in continuum games, J. Math. Econ. 32 (1999) 207–223; A unifying pair of Cournot–Nash equilibrium existence results, J. Econ. Theory 102 (2002) 437–470] to games with possibly non-ordered preferences, providing a continuum analogue of the seminal existence results by Mas-Colell [An equilibrium existence theorem without complete or transitive preferences, J. Math. Econ. 1 (1974) 237–246], Gale and Mas-Colell [An equilibrium existence theorem for a general model without ordered preferences, J. Math. Econ. 2 (1975) 9–15], Shafer and Sonnenschein [Equilibrium in abstract economies without ordered preferences, J. Math. Econ. 2 (1975) 345–348], Borglin and Keiding [Existence of equilibrium actions and of equilibrium: a note on the “new” existence theorems, J. Math. Econ. 3 (1976) 313–316] and Yannelis and Prabhakar [Existence of maximal elements and equilibria in linear topological spaces, J. Math. Econ. 12 (1983) 233–245].     

Equilibrium play and best response to (stated) beliefs in normal form games

We report experimental results on a series of ten one-shot two-person 3×3 normal form games with unique equilibrium in pure strategies played by non-economists. In contrast to previous experiments in which game theory predictions fail dramatically, a majority of actions taken coincided with the equilibrium prediction (70.2%) and were best-responses to subjects' stated beliefs (67.2%). In constant-sum games, 78% of actions taken were predicted by the equilibrium model, outperforming simple K-level reasoning models. We discuss how non-trivial game characteristics related to risk aversion, efficiency concerns and social preferences may affect the predictive value of different models in simple normal form games.     

A differentiable homotopy to compute Nash equilibria of n-person games

Summary. The literature on the computation of Nash equilibria in n-person games is dominated by simplicial methods. This paper is the first to introduce a globally convergent algorithm that fully exploits the differentiability present in the problem. It presents an everywhere differentiable homotopy to do the computations. The homotopy path can therefore be followed by several numerical techniques. Moreover, instead of computing some Nash equilibrium, the algorithm is constructed in such a way that it computes the Nash equilibrium selected by the tracing procedure of Harsanyi and Selten. As a by-product of our proofs it follows that for a generic game the tracing procedure defines a unique feasible path. The numerical performance of the algorithm is illustrated by means of several examples. Received: December 21, 1999; revised version: December 27, 2000