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Rosenthal 2001
Rosenthal 2001
Rosenthal 2001
c Springer-Verlag 2001
Abstract. In a variant of the repeated prisoner’s dilemma, if extra costs are as-
sociated with the verifications built into strategies that could otherwise produce
Pareto efficient equilibria, the attainment of efficient play becomes problemati-
cal. Evolutionary-game versions of this dilemma are studied here in an attempt
to understand the difficulties societies face in maintaining efficient interactions
mediated by trust.
1 Introduction
This paper touches on several themes that have recurred in Roy Radner’s dis-
tinguished research record. One is the search for efficient organizational forms
for firms and for societies more generally. A second is the use of game-theoretic
models to explore social problems. A third theme is the explicit incorporation in
formal models of the limited abilities of humans to accomplish what is in their
interests. Indeed, he was a pioneer on the subject of bounded rationality, and his
work formed the primary inspiration for my own interest in the subject.
The paper uses an evolutionary, rather than a utility-maximizing, paradigm
to represent the opportunism that arises in many social situations. It begins with
the simple premise that, other things equal, societies possessing higher endemic
levels of trust can operate more efficiently than can less trusting societies, but that
such trust creates the potential for opportunistic behavior by individuals, which
in turn erodes trust. Combatting such opportunism may therefore be a legitimate
goal of public policy, but how best to achieve that goal is not obvious.
I am grateful to Douglas Gale, Joel Guttman, Hsueh-Ling Huynh, Glenn Loury, John Nachbar, Debraj
Ray, and Arthur Robson for enlightening conversations on the subject of this paper; to Parikshit Ghosh
and Sumon Majumdar for excellent research assistance; to a referee for helpful suggestions; and to
the National Science Foundation for financial support.
414 R.W. Rosenthal
The repeated prisoner’s dilemma (another Radner subject1 ) has often been
used as a paradigm within which to examine such issues:2 The strategy that al-
ways cooperates, independently of the history of play, is viewed as vulnerable to
opportunism. The strategy that always defects, despite the fact that it forms an
equilibrium when played against itself, is completely untrusting; and the equilib-
rium payoff such a pair produces is viewed as something that can be improved
on. (Indeed, it is hard to think of a population of individuals who behave this
way as a society at all.) When the players are sufficiently forward looking, strate-
gies such as “Tit For Tat” (begin by cooperating and continue by imitating the
opponent’s previous choice at each subsequent round), “Grim” (begin by coop-
erating and continue to cooperate only if the history to date has been completely
cooperative), and many others “trust but verify”3 and generate equilibria with
payoffs higher than those of the always-defect equilibrium.
This is encouraging, but beyond the simple repeated prisoner’s dilemma
paradigm such strategies are not without their own difficulties: Verification is
not generally a costless activity; and if everyone else in a society is trustworthy,
verification becomes redundant and a strategy of the form “Trust But Verify”
can profitably be replaced by the strategy that always cooperates.4 So, “Trust
But Verify” apparently cannot be relied on as an all-purpose, decentralized so-
lution to the social inefficiencies that are caused by absence of trust, even when
individuals are very forward looking.
Society-level collective actions might help to overcome the inefficiencies.
The use of social sanctions, for instance, can change the structure of the under-
lying prisoner’s dilemma game, or at least can change the relative magnitudes of
the payoff parameters. Such social sanctions are likely to be costly in practice,
however, as they must be imposed and enforced continually. Much of what a
system of criminal justice does might be interpreted as imposing such sanctions,
for example.
The purpose of this paper is to look at these issues through the lens of a
simple model similar to the one studied in Young and Foster (1991).5 Section 2
of this paper begins with analysis of an evolutionary-game model of a society in
which individuals are repeatedly randomly matched to play a restricted version
of the repeated prisoner’s dilemma with payoffs modified to incorporate small
verification costs. The evolutionary game has three strategies: Always Cooper-
ate (All C), Always Defect (All D), and Trust But Verify (TBV). It has three
equilibria: One, which is stable (locally) in a sense to be described, involves all
players using the All D strategy. Another, which is unstable, is a heterogeneous
mixture of All D and TBV. The third equilibrium, which possesses a weak kind
of stability that is not as persuasive as that possessed by the first equilibrium,
1 E.g., Radner (1986).
2 Cf. Axelrod (1984), for example.
3 The phrase became popular after it was used in a speech by U.S. President Reagan.
4 This argument is seen frequently in the literature on repeated games played by finite automata.
(1988).
Trust 415
Consider the prisoner’s dilemma of Table 1, where β > α > 0 > −γ. (C stands
for cooperate and D for defect.) The strategy pair D vs. D is, of course, the
unique Nash equilibrium of the one-shot game. If the game is repeated infinitely,
with both players having the same discount factor δ < 1 (or if the players
maximize the sum of their expected payoffs but the game stops after any round
416 R.W. Rosenthal
Table 1.
C D
C α, α −γ, β
D β, −γ 0, 0
cultural adaptation or from biological evolution, though the former seems more natural.
Trust 417
The most popular equilibrium concept for evolutionary games is ESS (evo-
lutionary stable strategy) which requires that the population distribution, viewed
as a mixed strategy in the two-person symmetric one-shot game in which both
players face the payoff matrix in Table 2, be a symmetric Nash equilibrium sat-
isfying the additional stability condition that any alternative best response to the
equilibrium strategy does worse against itself than does the equilibrium mixture.
(Thus, an ESS is stable in the sense that a small perturbation in the relative popu-
lation frequencies toward one of these alternative best replies creates a tendency,
under any dynamic that rewards better-performing strategies at the expense of
poorer-performing strategies, for the distribution to return to the equilibrium.)
For the game above, it is easy to see that there is a unique ESS, and it is for the
entire population to use All D. This is a gloomy result as it seems to mitigate
against the emergence of cooperation, but it can be ameliorated somewhat if one
is prepared to weaken a bit the restrictions imposed by ESS.
To see why such a weakening might make sense in this case, first note
that under suitable parameter restrictions, in particular when κ is sufficiently
small, there are two (and only two) additional symmetric Nash equilibria for the
symmetric two-person one-shot game: One is the mixed strategy in which All C
is never used, All D is played with probability
α − β(1 − δ) − κ
,
α − (β − γ)(1 − δ)
and TBV is played with the rest of the probability. (Since the expression above
is clearly between 0 and 1, one only needs to verify that against this mixture
when κ is sufficiently small the expected payoff to All C is less than that to TBV
which in turn equals that to All D.) The other symmetric equilibrium strategy is
the completely mixed strategy in which All C is played with probability
(δγ − κ)(α − β(1 − δ)) − γκ
A= ,
δ 2 βγ
All D is played with probability B = κ/δγ, and TBV is played with the remaining
probability 1 − A − B . (For this second mixture to generate an equilibrium, we
need to be assured first that A, B , and 1 − A − B are all nonnegative: When κ is
sufficiently small, B is obviously small and positive; and A is approximately
α − β(1 − δ)
,
δβ
418 R.W. Rosenthal
and straightforward calculations produce (0, 5/9, 4/9) for the first mixture and
(7/24, 4/24, 13/24) for the second.
Call an equilibrium (locally, asymptotically) stable relative to a (deterministic,
continuous-time, regular 7 ) dynamic if all trajectories starting sufficiently close to
the equilibrium converge to it. The question is: Which dynamic? Our evolutionary
story suggests that at a point in time if a pure strategy has higher expected
payoff than does some other pure strategy that is used with nonzero frequency
in a particular population mixture, then the difference between their frequencies
should be increasing at a rate that is uniformly bounded below by some positive
linear function of the payoff difference. Call such a dynamic monotone.8 Since
the pure equilibrium in which everyone plays All D is a strict Nash equilibrium,
it is clearly stable in any monotone dynamic. At the other extreme, starting from
any mixture of the form (0, 5/9, 4/9) + (ε1 , ε2 , −ε1 − ε2 ), where ε1 ≥ 0, ε2 > 0,
and ε1 + ε2 < 4/9, it is obvious that All D is the unique best response and hence
its frequency must continually grow in any monotone dynamic. So (0, 5/9, 4/9)
is unstable in any monotone dynamic.
For the completely mixed equilibrium, matters are not so clear-cut. Call an
equilibrium weakly stable if for some monotone dynamic the equilibrium is stable
and for some other one it is not.
Proposition 1. The completely mixed equilibrium is weakly stable in the game of
Table 3.
The proof of Proposition 1 is relatively complicated and is relegated to an
Appendix. The idea is easy, however, and can be understood with the help of
7 By regular, I mean only that the dynamic is required to produce well-defined trajectories from
emphasis on the replicator dynamics in the evolutionary biology literature (and for technical reasons),
more attention is focused in those papers on monotonicity as a natural restriction on changes in growth
rate differences rather than simply in frequency differences, as here. In the present context, the notion
of monotonicity adopted here seems to me the more natural one.
Trust 419
Fig. 1
Fig. 1: Monotonicity requires that the flow diagram be divided into the six pic-
tured regions, together with their respective boundaries, and that the direction of
flow inside each region be within the respective depicted ranges. Every trajectory
beginning close to the completely mixed equilibrium therefore swirls around it
in a counterclockwise fashion. Arguments from elementary geometry then show
that the dynamic can be specified so that for starting states sufficiently close to
the completely-mixed equilibrium the swirling motion can be either an inward-
directed or an outward-directed spiral.
In evolutionary games such as those of this class, recently-developed stochas-
tic stability theories (e.g., Kandori et al. 1993 and Young 1993) select from among
equilibria based on notions of long-run occupancy ratios.9 For the game of Table
3, it is not difficult to see that such theories necessarily select the All D ESS.
Despite this, I argue that for social policy attention should still be focused on
the completely mixed equilibrium. My reasons for this, however, come from
considerations outside of the model at hand: Even if individuals adapt (or repro-
duce) unthinkingly, as in the usual interpretation of evolutionary models, there
can be an understanding of the efficiency gains possible from cooperation at the
level of the society as a whole. In this case, policy interventions, such as pro-
hibitively strong sanctions imposed temporarily against the play of D, can move
the population to a more cooperative profile. Once there, since the completely
9 These theories superimpose occasional mutations (or errors) on top of the sorts of deterministic
dynamics assumed here in order to shake the system occasionally away from an equilibrium. They
then use limits of long-run occupancy ratios of the different equilibria as the mutation rate goes to
zero as the selection device.
420 R.W. Rosenthal
mixed equilibrium of the model is weakly stable, the society’s actual dynamic
(which could be much more complicated than in the model, perhaps involving
stochastic elements and both inward-swirling and outward-swirling elements) can
once again take hold without additional interference, even if only until the actual
dynamic pushes the state beyond the basin of attraction of the completely-mixed
equilibrium. If the actual dynamic produces a trajectory that, at least initially,
resembles one produced by a monotone dynamic for which the completely mixed
equilibrium is stable, there is the potential for social benefit.
I have in mind, therefore, a kind of long-term alternation between the two
equilibria. Occasional episodes of social collapse, such as those in Somalia,
Rwanda, and Bosnia in recent years, last until the society can, through collective
action (perhaps assisted from the outside), move the social state again close to
the completely-mixed equilibrium. Of course, it would be better to defend this
position with an explicit model of a political process having such features, and
I am not proposing such a model; I make the argument informally here only to
illustrate that interest in the completely mixed equilibrium of this model can be
sustained even when its theoretical justification is not as compelling as that of
the All D equilibrium. (See Sect. 5 for more on this.)
3 A two-population model
Now modify the evolutionary game of Table 3 as follows. Each individual belongs
to one of two unchanging groups having relative sizes r and (1−r), respectively.
Suppose that when any member of the second group is matched, the probability
that the match is with a member of the first group is λ; and suppose that the
probability that any member of the first group is paired with a member of the
second group in a match is µ. Then λ(1 − r) = µr. Purely random matching
would produce λ = r, so to produce a bias toward within-group matches, I
assume λ < r, which implies µ < 1 − r and
µ + λ < 1.
−9 −9
x = λ (1 − B ) (6) + B + (1 − λ) (1 − b) (6) + b
2 2
y = λ [A (9) + (1 − A − B )3] + (1 − λ) [a (9) + (1 − a − b)3]
11 11
z = λ (1 − B ) + B (−2) + (1 − λ) (1 − b) + b(−2) .
2 2
Now it is obvious that if
1. A = a = 0 and B = b = 1, or if
2. A = a = 0 and B = b = 59 , or if
7 4
3. A = a = 24 and B = b = 24 ,
then the equilibria of the single-population model become equilibria here no
matter what λ and µ are. But there are also other equilibria of this model under
suitable restrictions on the parameters λ and µ. In the interest of brevity, I list
below only those that exist for a full two-dimensional subset of {(λ, µ) : λ + µ <
1} and leave the verifications to the reader.
A = 0, B = 0 and a = 0, b = 1.
6. For λ ≤ 1/6,
7 4 − 24λ
A = 0, B = 1, and a = ,b = .
24(1 − λ) 24(1 − λ)
7. For λ ≤ 5/9,
5 − 9λ
A = 0, B = 1 and a = 0, b = .
9(1 − λ)
8. For 1/6 ≤ λ ≤ 3/10 and λ ≥ 3(µ − 1)/(24µ − 10),
1 10λ − 3 + 3µ
A = 0, B = and a = , b = 0.
6λ 24µλ
Obviously, by reversing the roles of λ and µ and of the upper and lower case
Latin letters in #4–#8 above, another five categories of equilibria are added.
Extending the stability definitions in the obvious ways so that monotonicity is
imposed separately on each group, it is immediately obvious that the equilibria of
categories #1 and #5 are stable: In the product of sufficiently small neighborhoods
of each of the strategies that is being used exclusively by the respective groups,
the motion of every monotone dynamic is back toward the (product of the)
respective strategies. Similarly, it is not hard to see that the equilibria of categories
422 R.W. Rosenthal
#3, #4 and #7 are all unstable: Whenever B and/or b are higher than their
equilibrium values, the motion of every monotone dynamic is toward further
increases. For the remaining categories, matters are not so clear-cut. In fact,
determining whether or not such equilibria are weakly stable appears to be a
formidable task; and I do not know how to accomplish it. The state space is
now the product of the two-dimensional simplices, and the class of monotone
dynamics is not simple to characterize.
It is nevertheless of interest to notice a few features of the equilibria that are
not obviously unstable, at least. In #5, one population plays TBV exclusively, the
gains from cooperation within the group outweighing the losses from the cross-
group matches but the presence of the All D players in the other population
forestalling the use of All C. Overall expected payoffs are higher for both groups
than in the single-population stable equilibrium, and are worse for both groups
than in the single-population weakly-stable equilibrium as long as λ > 1/6.
(When λ < 1/6, the second group is better off in the symmetric equilibrium.)
Expected payoffs are unequal across the groups, of course.
In #6, the equilibrium is essentially one group playing the stable single-
population equilibrium with the other playing a modified version of the weakly-
stable single-population equilibrium. Overall expected payoffs for the first group
are intermediate between the same two single-population equilibrium payoffs,
while for the second group they are equal to those of the weakly-stable single-
population equilibrium.
In #8, the interplay across the groups is more subtle. Here the number of All
D users in the first group is
1 (1 − r) 1
Br = > ,
6 µ 6
of the respective ranges of t values. Category #4 is stable for t > 1/3; this follows
from the strict inequalities involving X . Category #5 is unstable for t > 1/3; to
see this note that if A > (3 − 7t)/(1 − t), the state is in the basin of attraction of
#4.
Although the model here is perhaps less interesting for applications than is the
model in Section 3, the functional forms for the equilibria above also hint at the
social effects of certain asymmetries. In #3 above, the analogue of the weakly-
stable equilibrium of Sect. 2, for instance, A and B both increase with t, so the
frequency of TBV declines. Evidently, the asymmetry decreases the usefulness
of costly TBV verifications; and the society becomes increasingly like one with
two separated subgroups, one trusting and one not. This is somewhat analogous
to the #5 equilibria of Sect. 3.
5 Discussion
If the models of this paper depict the salient features of real social phenomena,
then it is useful to ask how various society-level interventions can be reflected
in the models and the results. One class of such interventions is those that seek
to change permanently the payoff structure of the games. For instance, play of
D (or play of D when the opponent plays C ) could be deemed a crime and
permanently subject to sanctions. The stiffer the penalty or the larger the set of
resources devoted to detecting and punishing the crime, the larger the effect could
be on the entries in the payoff tables. Except at lower dimensional regions of the
parameter space, however, marginal changes in the payoff parameters can only
move the location of the equilibria marginally. So, to produce major changes in
behavior in equilibrium, more-than-marginal changes in payoff parameters are
generally necessary. The criminalization example suggests that this might be
costly, though not necessarily prohibitively costly. Analysis of models like those
in Sect. 2 of this paper might be used for cost-benefit calculations.
A second set of interventions is the class aimed at overcoming the insta-
bilities of preferred equilibria. The idea is that the real world dynamic process
is perhaps complicated and perhaps involves stochastic elements, but it might
at least resemble those dynamics used in the stability calculations of this pa-
per. When the dynamic process is away from the desired equilibrium, it may be
possible and not too expensive to move it back. If the equilibrium possesses at
least weak stability, there is then the chance that the process may stay near the
desired equilibrium for awhile without the expenditure of additional resources by
the society. It is this last point that raises hope at least that interventions from
this class can sometimes be cost-effective. As mentioned earlier, if recent social
breakdowns such as those in Somalia, Rwanda, and Bosnia11 are interpreted as
movements from a relatively efficient equilibrium to a relatively inefficient one,
11 By repeating these three unfortunate examples, I do not mean to imply that episodes from other
countries’ histories cannot be interpreted similarly. On the contrary, I suspect that all human societies
face similar dilemmas at one level or another on a regular basis.
Trust 425
Appendix
Fig. 2
9B
Ȧ ≥ Ḃ ⇐⇒ 6A − + 6(1 − A − B ) ≥ 9A + 3(1 − A − B );
2
9B 11A 11(1 − A − B )
Ȧ ≥ −Ȧ − Ḃ ⇐⇒ 6A − + 6(1 − A − B ) ≥ − 2B + ;
2 2 2
11A 11(1 − A − B )
Ḃ ≥ −Ȧ − Ḃ ⇐⇒ 9A + 3(1 − A − B ) ≥ − 2B + .
2 2
Simplifying,
Ȧ ≥ Ḃ ⇐⇒ 12A + 15B ≤ 6;
1
Ȧ ≥ −Ȧ − Ḃ ⇐⇒ B ≤ ;
6
Ḃ ≥ −Ȧ − Ḃ ⇐⇒ 12A + 9B ≥ 5.
I will first show that there are dynamics respecting these conditions under which
(7/24, 4/24, 13/24) is stable.
Suppose we begin at some point (A1 , B1 ) on the line B = 1/6, with A1 > 7/24,
as in Fig. 2. Since B1 = 1/6, we get Ȧ = −Ȧ − Ḃ ; and since 12A1 + 15B1 > 6,
it must be that Ȧ < Ḃ . Consequently, Ḃ > 0, Ȧ < 0, and (Ḃ /Ȧ) = −2. The
trajectory therefore immediately enters the region characterized by Ḃ > −Ȧ−Ḃ >
Ȧ; i.e., in which Ḃ > 0, Ȧ < 0, and −2 < (Ḃ /Ȧ) < −(1/2). If A1 is sufficiently
close to 7/24 and if (Ḃ /Ȧ) changes sufficiently quickly from near −2 to near
−(1/2), then the trajectory hits the line 12A+9B = 5 (having slope −12/9) before
it hits A = 0. Let (A2 , B2 ) be this hitting point. After (A2 , B2 ), the trajectory
enters the region characterized by −Ȧ − Ḃ > Ḃ > Ȧ, so that Ȧ < 0 and
−(1/2) < (Ḃ /Ȧ) < 1. Again, if A1 is sufficiently close to 7/24, the trajectory
hits the line 12A + 15B = 6 (having slope −(4/5)) at the point (A3 , B3 ) before
Trust 427
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