Indirect reciprocity with private, noisy, and incomplete information

A mechanistic model of gossip, reputations, and cooperation

Social reputations facilitate cooperation: those who help others gain a good reputation, making them more likely to receive help themselves. But when people hold private views of one another, this cycle of indirect reciprocity breaks down, as disagreements lead to the perception of unjustified behavior that ultimately undermines cooperation. Theoretical studies often assume population-wide agreement about reputations, invoking rapid gossip as an endogenous mechanism for reaching consensus. However, the theory of indirect reciprocity lacks a mechanistic description of how gossip actually generates consensus. Here, we develop a mechanistic model of gossip-based indirect reciprocity that incorporates two alternative forms of gossip: exchanging information with randomly selected peers or consulting a single gossip source. We show that these two forms of gossip are mathematically equivalent under an appropriate transformation of parameters. We derive an analytical expression for the minimum amount of gossip required to reach sufficient consensus and stabilize cooperation. We analyze how the amount of gossip necessary for cooperation depends on the benefits and costs of cooperation, the assessment rule (social norm), and errors in reputation assessment, strategy execution, and gossip transmission. Finally, we show that biased gossip can either facilitate or hinder cooperation, depending on the direction and magnitude of the bias. Our results contribute to the growing literature on cooperation facilitated by communication, and they highlight the need to study strategic interactions coupled with the spread of social information.

Indirect reciprocity undermines indirect reciprocity destabilizing large-scale cooperation

Previous models suggest that indirect reciprocity (reputation) can stabilize large-scale human cooperation [K. Panchanathan, R. Boyd, Nature 432, 499-502 (2004)]. The logic behind these models and experiments [J. Gross et al., Sci. Adv. 9, eadd8289 (2023) and O. P. Hauser, A. Hendriks, D. G. Rand, M. A. Nowak, Sci. Rep. 6, 36079 (2016)] is that a strategy in which individuals conditionally aid others based on their reputation for engaging in costly cooperative behavior serves as a punishment that incentivizes large-scale cooperation without the second-order free-rider problem. However, these models and experiments fail to account for individuals belonging to multiple groups with reputations that can be in conflict. Here, we extend these models such that individuals belong to a smaller, "local" group embedded within a larger, "global" group. This introduces competing strategies for conditionally aiding others based on their cooperative behavior in the local or global group. Our analyses reveal that the reputation for cooperation in the smaller local group can undermine cooperation in the larger global group, even when the theoretical maximum payoffs are higher in the larger global group. This model reveals that indirect reciprocity alone is insufficient for stabilizing large-scale human cooperation because cooperation at one scale can be considered defection at another. These results deepen the puzzle of large-scale human cooperation.

Resolving selfish and spiteful interdependent conflict

Interdependence occurs when individuals have a stake in the success or failure of others, such that the outcomes experienced by one individual also generate costs or benefits for others. Discussion on this topic has typically focused on positive interdependence (where gains for one individual result in gains for another) and on the consequences for cooperation. However, interdependence can also be negative (where gains for one individual result in losses for another), which can spark conflict. In this article, we explain when negative interdependence is likely to arise and, crucially, the role played by (mis)perception in shaping an individual's understanding of their interdependent relationships. We argue that, owing to the difficulty in accurately perceiving interdependence with others, individuals might often be mistaken about the stake they hold in each other's outcomes, which can spark needless, resolvable forms of conflict. We then discuss when and how reducing misperceptions can help to resolve such conflicts. We argue that a key mechanism for resolving interdependent conflict, along with better sources of exogenous information, is to reduce reliance on heuristics such as stereotypes when assessing the nature of our interdependent relationships.

Indirect reciprocity with Bayesian reasoning and biases

Reputations can foster cooperation by indirect reciprocity: if I am good to you then others will be good to me. But this mechanism for cooperation in one-shot interactions only works when people agree on who is good and who is bad. Errors in actions or assessments can produce disagreements about reputations, which can unravel the positive feedback loop between social standing and pro-social behaviour. Cooperators can end up punished and defectors rewarded. Public reputation systems and empathy are two possible mechanisms to promote agreement about reputations. Here we suggest an alternative: Bayesian reasoning by observers. By taking into account the probabilities of errors in action and observation and their prior beliefs about the prevalence of good people in the population, observers can use Bayesian reasoning to determine whether or not someone is good. To study this scenario, we develop an evolutionary game theoretical model in which players use Bayesian reasoning to assess reputations, either publicly or privately. We explore this model analytically and numerically for five social norms (Scoring, Shunning, Simple Standing, Staying, and Stern Judging). We systematically compare results to the case when agents do not use reasoning in determining reputations. We find that Bayesian reasoning reduces cooperation relative to non-reasoning, except in the case of the Scoring norm. Under Scoring, Bayesian reasoning can promote coexistence of three strategic types. Additionally, we study the effects of optimistic or pessimistic biases in individual beliefs about the degree of cooperation in the population. We find that optimism generally undermines cooperation whereas pessimism can, in some cases, promote cooperation.

Indirect reciprocity with abductive reasoning

Indirect reciprocity is a reputational mechanism through which cooperative behavior can be promoted amongst a group of individuals. However, in order for this mechanism to effectively do so, cheating must be appropriately punished and cooperating appropriately rewarded. Errors in assessments and actions can hinder this process. In such a setting, individuals might try to reason about evidence to assign reputations given the possibility of errors. Here, we consider a well-established theory of reasoning used to combine evidence, abductive reasoning, as a possible means by which such errors can be circumvented. Specifically, we use Dempster-Shafer theory to model individuals who account for possible errors by combining information about their beliefs about the status of the population and the errors rates and then choose the simplest scenario that could explain their observations in the context of these beliefs. We investigate the effectiveness of abductive reasoning at promoting cooperation for five social norms: Scoring, Shunning, Simple Standing, Staying, and Stern Judging. We find that, generally, abductive reasoning can outperform non-reasoning models at ameliorating the effects of the aforementioned challenges and promote higher levels of cooperation under low-error conditions. However, for high-error conditions, we find that abductive reasoning can undermine cooperation. Furthermore, we also find that a degree of bias towards believing previously held reputations can help sustain cooperation.

When do stereotypes undermine indirect reciprocity?

Social reputations provide a powerful mechanism to stimulate human cooperation, but observing individual reputations can be cognitively costly. To ease this burden, people may rely on proxies such as stereotypes, or generalized reputations assigned to groups. Such stereotypes are less accurate than individual reputations, and so they could disrupt the positive feedback between altruistic behavior and social standing, undermining cooperation. How do stereotypes impact cooperation by indirect reciprocity? We develop a theoretical model of group-structured populations in which individuals are assigned either individual reputations based on their own actions or stereotyped reputations based on their groups' behavior. We find that using stereotypes can produce either more or less cooperation than using individual reputations, depending on how widely reputations are shared. Deleterious outcomes can arise when individuals adapt their propensity to stereotype. Stereotyping behavior can spread and can be difficult to displace, even when it compromises collective cooperation and even though it makes a population vulnerable to invasion by defectors. We discuss the implications of our results for the prevalence of stereotyping and for reputation-based cooperation in structured populations.

Emergence and collapse of reciprocity in semiautomatic driving coordination experiments with humans

Forms of both simple and complex machine intelligence are increasingly acting within human groups in order to affect collective outcomes. Considering the nature of collective action problems, however, such involvement could paradoxically and unintentionally suppress existing beneficial social norms in humans, such as those involving cooperation. Here, we test theoretical predictions about such an effect using a unique cyber-physical lab experiment where online participants (N = 300 in 150 dyads) drive robotic vehicles remotely in a coordination game. We show that autobraking assistance increases human altruism, such as giving way to others, and that communication helps people to make mutual concessions. On the other hand, autosteering assistance completely inhibits the emergence of reciprocity between people in favor of self-interest maximization. The negative social repercussions persist even after the assistance system is deactivated. Furthermore, adding communication capabilities does not relieve this inhibition of reciprocity because people rarely communicate in the presence of autosteering assistance. Our findings suggest that active safety assistance (a form of simple AI support) can alter the dynamics of social coordination between people, including by affecting the trade-off between individual safety and social reciprocity. The difference between autobraking and autosteering assistance appears to relate to whether the assistive technology supports or replaces human agency in social coordination dilemmas. Humans have developed norms of reciprocity to address collective challenges, but such tacit understandings could break down in situations where machine intelligence is involved in human decision-making without having any normative commitments.

Reputation and reciprocity

Reputation and reciprocity are key mechanisms for cooperation in human societies, often going hand in hand to favor prosocial behavior over selfish actions. Here we review recent researches at the interface of physics and evolutionary game theory that explored these two mechanisms. We focus on image scoring as the bearer of reputation, as well as on various types of reciprocity, including direct, indirect, and network reciprocity. We review different definitions of reputation and reciprocity dynamics, and we show how these affect the evolution of cooperation in social dilemmas. We consider first-order, second-order, as well as higher-order models in well-mixed and structured populations, and we review experimental works that support and inform the results of mathematical modeling and simulations. We also provide a synthesis of the reviewed researches along with an outlook in terms of six directions that seem particularly promising to explore in the future.

A pull versus push framework for reputation

Reputation is a powerful driver of human behavior. Reputation systems incentivize 'actors' to take reputation-enhancing actions, and 'evaluators' to reward actors with positive reputations by preferentially cooperating with them. This article proposes a reputation framework that centers the perspective of evaluators by suggesting that reputation systems can create two fundamentally different incentives for evaluators to reward positive reputations. Evaluators may be pulled towards 'good' actors to benefit directly from their reciprocal cooperation, or pushed to cooperate with such actors by normative pressure. I discuss how psychology and behavior might diverge under pull versus push mechanisms, and use this framework to deepen our understanding of the empirical reputation literature and suggest ways that we may better leverage reputation for social good.

Shibboleth: An agent-based model of signalling mimicry

Mimicry is an essential strategy for exploiting competitors in competitive co-evolutionary relationships. Protection against mimicry may, furthermore, be a driving force in human linguistic diversity: the potential harm caused by failing to detect mimicked group-identity signals may select for high sensitivity to mimicry of honest group members. Here we describe the results of five agent-based models that simulate multi-generational interactions between two groups of individuals: original members of a group with an honest identity signal, and members of an outsider group who mimic that signal, aiming to pass as members of the in-group. The models correspond to the Biblical story of Shibboleth, where a tribe in conflict with another determines tribe affiliation by asking individuals to pronounce the word, 'Shibboleth.' In the story, failure to reproduce the word phonetically resulted in death. Here, we run five different versions of a 'Shibboleth' model: a first, simple version, which evaluates whether a composite variable of mimicry quality and detection quality is a superior predictor to the model's outcome than is cost of detection. The models thereafter evaluate variations on the simple model, incorporating group-level behaviours such as altruistic punishment. Our results suggest that group members' sensitivity to mimicry of the Shibboleth-signal is a better predictor of whether any signal of group identity goes into fixation in the overall population than is the cost of mimicry detection. Thus, the likelihood of being detected as a mimic may be more important than the costs imposed on mimics who are detected. This suggests that theoretical models in biology should place greater emphasis on the likelihood of detection, which does not explicitly entail costs, rather than on the costs to individuals who are detected. From a language learning perspective, the results suggest that admission to group membership through linguistic signals is powered by the ability to imitate and evade detection as an outsider by existing group members.

Indirect reciprocity with stochastic and dual reputation updates

Cooperation is a crucial aspect of social life, yet understanding the nature of cooperation and how it can be promoted is an ongoing challenge. One mechanism for cooperation is indirect reciprocity. According to this mechanism, individuals cooperate to maintain a good reputation. This idea is embodied in a set of social norms called the "leading eight". When all information is publicly available, these norms have two major properties. Populations that employ these norms are fully cooperative, and they are stable against invasion by alternative norms. In this paper, we extend the framework of the leading eight in two directions. First, we include norms with 'dual' reputation updates. These norms do not only assign new reputations to an acting donor; they also allow to update the reputation of the passive recipient. Second, we allow social norms to be stochastic. Such norms allow individuals to evaluate others with certain probabilities. Using this framework, we characterize all evolutionarily stable norms that lead to full cooperation in the public information regime. When only the donor's reputation is updated, and all updates are deterministic, we recover the conventional model. In that case, we find two classes of stable norms: the leading eight and the 'secondary sixteen'. Stochasticity can further help to stabilize cooperation when the benefit of cooperation is comparably small. Moreover, updating the recipients' reputations can help populations to recover more quickly from errors. Overall, our study highlights a remarkable trade-off between the evolutionary stability of a norm and its robustness with respect to errors. Norms that correct errors quickly require higher benefits of cooperation to be stable.

Evolution of norms for judging social behavior

Reputations provide a powerful mechanism to sustain cooperation, as individuals cooperate with those of good social standing. But how should someone's reputation be updated as we observe their social behavior, and when will a population converge on a shared norm for judging behavior? Here, we develop a mathematical model of cooperation conditioned on reputations, for a population that is stratified into groups. Each group may subscribe to a different social norm for assessing reputations and so norms compete as individuals choose to move from one group to another. We show that a group initially comprising a minority of the population may nonetheless overtake the entire population-especially if it adopts the Stern Judging norm, which assigns a bad reputation to individuals who cooperate with those of bad standing. When individuals do not change group membership, stratifying reputation information into groups tends to destabilize cooperation, unless individuals are strongly insular and favor in-group social interactions. We discuss the implications of our results for the structure of information flow in a population and for the evolution of social norms of judgment.

Evolutionary stability of cooperation in indirect reciprocity under noisy and private assessment

Indirect reciprocity is a mechanism that explains large-scale cooperation in humans. In indirect reciprocity, individuals use reputations to choose whether or not to cooperate with a partner and update others' reputations. A major question is how the rules to choose their actions and the rules to update reputations evolve. In the public reputation case where all individuals share the evaluation of others, social norms called Simple Standing (SS) and Stern Judging (SJ) have been known to maintain cooperation. However, in the case of private assessment where individuals independently evaluate others, the mechanism of maintenance of cooperation is still largely unknown. This study theoretically shows for the first time that cooperation by indirect reciprocity can be evolutionarily stable under private assessment. Specifically, we find that SS can be stable, but SJ can never be. This is intuitive because SS can correct interpersonal discrepancies in reputations through its simplicity. On the other hand, SJ is too complicated to avoid an accumulation of errors, which leads to the collapse of cooperation. We conclude that moderate simplicity is a key to stable cooperation under the private assessment. Our result provides a theoretical basis for the evolution of human cooperation.

Quantitative assessment can stabilize indirect reciprocity under imperfect information

The field of indirect reciprocity investigates how social norms can foster cooperation when individuals continuously monitor and assess each other's social interactions. By adhering to certain social norms, cooperating individuals can improve their reputation and, in turn, receive benefits from others. Eight social norms, known as the "leading eight," have been shown to effectively promote the evolution of cooperation as long as information is public and reliable. These norms categorize group members as either 'good' or 'bad'. In this study, we examine a scenario where individuals instead assign nuanced reputation scores to each other, and only cooperate with those whose reputation exceeds a certain threshold. We find both analytically and through simulations that such quantitative assessments are error-correcting, thus facilitating cooperation in situations where information is private and unreliable. Moreover, our results identify four specific norms that are robust to such conditions, and may be relevant for helping to sustain cooperation in natural populations.

Inequality leads to the evolution of intolerance in reputation-based populations

This work studies the impact of economic inequality on the evolution of intolerance through a reputation-based model of indirect reciprocity. Results show that economic inequality is a powerful enhancer of intolerance, inducing the escalation of out-group discrimination even without the presence of new intolerant mutants. It also generates behavior modifications within tolerant disfavored minorities: their members either relax punishments against the uncooperative or prioritize helping the wealthy, even suffering discrimination in return. On the other hand, the redistribution of wealth is proven as a viable solution to avoid the spread of intolerance as long as it increases equality and is implemented before intolerance permeates part of the population.

Social norms of fairness with reputation-based role assignment in the dictator game

A vast body of experiments share the view that social norms are major factors for the emergence of fairness in a population of individuals playing the dictator game (DG). Recently, to explore which social norms are conducive to sustaining cooperation has obtained considerable concern. However, thus, far few studies have investigated how social norms influence the evolution of fairness by means of indirect reciprocity. In this study, we propose an indirect reciprocal model of the DG and consider that an individual can be assigned as the dictator due to its good reputation. We investigate the "leading eight" norms and all second-order social norms by a two-timescale theoretical analysis. We show that when role assignment is based on reputation, four of the "leading eight" norms, including stern judging and simple standing, lead to a high level of fairness, which increases with the selection intensity. Our work also reveals that not only the correct treatment of making a fair split with good recipients but also distinguishing unjustified unfair split from justified unfair split matters in elevating the level of fairness.

Why do people gossip? Reputation promotes honest reputational information sharing

Gossip, sharing information about an absent person, is an important way of spreading reputational information, crucial in fostering human cooperation. However, why should information possessors engage in gossip, and why should they be honest? We addressed this question based on a reputational account. In study 1, we found that when observed by potential investors, people were willing to pay more to share reputational information with those in need. Moreover, engaging in gossip did confer reputational benefits for gossipers by receiving more trust from investors, and gossipers' willingness to gossip predicted their subsequent trustworthiness. Study 2 further verified that observability promoted only honest information sharing and deterred dishonest gossiping. Consistently, only honest gossipers were trusted more, while dishonest gossipers were perceived to be even less trustworthy than non-gossipers, and only the motivation for honest gossiping could reflect gossipers' trustworthiness. These findings suggest that reputation can provide a solution to encourage gossiping and secure honesty.

Interaction between games give rise to the evolution of moral norms of cooperation

In many biological populations, such as human groups, individuals face a complex strategic setting, where they need to make strategic decisions over a diverse set of issues and their behavior in one strategic context can affect their decisions in another. This raises the question of how the interaction between different strategic contexts affects individuals’ strategic choices and social norms? To address this question, I introduce a framework where individuals play two games with different structures and decide upon their strategy in a second game based on their knowledge of their opponent’s strategy in the first game. I consider both multistage games, where the same opponents play the two games consecutively, and reputation-based model, where individuals play their two games with different opponents but receive information about their opponent’s strategy. By considering a case where the first game is a social dilemma, I show that when the second game is a coordination or anti-coordination game, the Nash equilibrium of the coupled game can be decomposed into two classes, a defective equilibrium which is composed of two simple equilibrium of the two games, and a cooperative equilibrium, in which coupling between the two games emerge and sustain cooperation in the social dilemma. For the existence of the cooperative equilibrium, the cost of cooperation should be smaller than a value determined by the structure of the second game. Investigation of the evolutionary dynamics shows that a cooperative fixed point exists when the second game belongs to coordination or anti-coordination class in a mixed population. However, the basin of attraction of the cooperative fixed point is much smaller for the coordination class, and this fixed point disappears in a structured population. When the second game belongs to the anti-coordination class, the system possesses a spontaneous symmetry-breaking phase transition above which the symmetry between cooperation and defection breaks. A set of cooperation supporting moral norms emerges according to which cooperation stands out as a valuable trait. Notably, the moral system also brings a more efficient allocation of resources in the second game. This observation suggests a moral system has two different roles: Promotion of cooperation, which is against individuals’ self-interest but beneficial for the population, and promotion of organization and order, which is at both the population’s and the individual’s self-interest. Interestingly, the latter acts like a Trojan horse: Once established out of individuals’ self-interest, it brings the former with itself. Importantly, the fact that the evolution of moral norms depends only on the cost of cooperation and is independent of the benefit of cooperation implies that moral norms can be harmful and incur a pure collective cost, yet they are just as effective in promoting order and organization. Finally, the model predicts that recognition noise can have a surprisingly positive effect on the evolution of moral norms and facilitates cooperation in the Snow Drift game in structured populations.

How do moral norms spontaneously evolve in the presence of selfish incentives? An answer to this question is provided by the observation that moral systems have two distinct functions: Besides encouraging self-sacrificing cooperation, they also bring organization and order into the societies. In contrast to the former, which is costly for the individuals but beneficial for the group, the latter is beneficial for both the group and the individuals. A simple evolutionary model suggests this latter aspect is what makes a moral system evolve based on the individuals’ self-interest. However, a moral system behaves like a Trojan horse: Once established out of the individuals’ self-interest to promote order and organization, it also brings self-sacrificing cooperation.

The marmoset as a model for investigating the neural basis of social cognition in health and disease

Social-cognitive processes facilitate the use of environmental cues to understand others, and to be understood by others. Animal models provide vital insights into the neural underpinning of social behaviours. To understand social cognition at even deeper behavioural, cognitive, neural, and molecular levels, we need to develop more representative study models, which allow testing of novel hypotheses using human-relevant cognitive tasks. Due to their cooperative breeding system and relatively small size, common marmosets (Callithrix jacchus) offer a promising translational model for such endeavours. In addition to having social behavioural patterns and group dynamics analogous to those of humans, marmosets have cortical brain areas relevant for the mechanistic analysis of human social cognition, albeit in simplified form. Thus, they are likely suitable animal models for deciphering the physiological processes, connectivity and molecular mechanisms supporting advanced cognitive functions. Here, we review findings emerging from marmoset social and behavioural studies, which have already provided significant insights into executive, motivational, social, and emotional dysfunction associated with neurological and psychiatric disorders.

Indirect exclusion can promote cooperation in repeated group interactions

Social exclusion has been regarded as one of the most effective measures to promote the evolution of cooperation. In real society, the way in which social exclusion works can be direct or indirect. However, thus far there is no related work to explore how indirect exclusion influences the evolution of cooperation from a theoretical perspective. Here, we introduce indirect exclusion into the repeated public goods game where the game organizer probabilistically selects cooperators after the first game round to participate in the following possible game interactions. We then investigate the evolutionary dynamics of cooperation both in infinite and finite well-mixed populations. Through theoretical analysis and numerical calculations, we find that the introduction of indirect exclusion can induce the stable coexistence of cooperators and defectors or the dominance of cooperators, which thus effectively promotes the evolution of cooperation. Besides, we show that the identifying probability of the organizer has a nonlinear effect on public cooperation when its value is lower than an intermediate value, while the higher identifying probability can maintain a high level of cooperation. Furthermore, our results show that increasing the average rounds of game interactions can effectively promote the evolution of cooperation.

Reputation structure in indirect reciprocity under noisy and private assessment

Evaluation relationships are pivotal for maintaining a cooperative society. A formation of the evaluation relationships has been discussed in terms of indirect reciprocity, by modeling dynamics of good or bad reputations among individuals. Recently, a situation that individuals independently evaluate others with errors (i.e., noisy and private reputation) is considered, where the reputation structure (from what proportion of individuals in the population each receives good reputations, defined as goodness here) becomes complex, and thus has been studied mainly with numerical simulations. The present study gives a theoretical analysis of such complex reputation structure. We formulate the time change of goodness of individuals caused by updates of reputations among individuals. By considering a large population, we derive dynamics of the frequency distribution of goodnesses. An equilibrium state of the dynamics is approximated by a summation of Gaussian functions. We demonstrate that the theoretical solution well fits the numerical calculation. From the theoretical solution, we obtain a new interpretation of the complex reputation structure. This study provides a novel mathematical basis for cutting-edge studies on indirect reciprocity.

A second-order stability analysis for the continuous model of indirect reciprocity

Reputation is one of key mechanisms to maintain human cooperation, but its analysis gets complicated if we consider the possibility that reputation does not reach consensus because of erroneous assessment. The difficulty is alleviated if we assume that reputation and cooperation do not take binary values but have continuous spectra so that disagreement over reputation can be analysed in a perturbative way. In this work, we carry out the analysis by expanding the dynamics of reputation to the second order of perturbation under the assumption that everyone initially cooperates with good reputation. The second-order theory clarifies the difference between Image Scoring and Simple Standing in that punishment for defection against a well-reputed player should be regarded as good for maintaining cooperation. Moreover, comparison among the leading eight shows that the stabilizing effect of justified punishment weakens if cooperation between two ill-reputed players is regarded as bad. Our analysis thus explains how Simple Standing achieves a high level of stability by permitting justified punishment and also by disregarding irrelevant information in assessing cooperation. This observation suggests which factors affect the stability of a social norm when reputation can be perturbed by noise.

Evolution of cooperation with joint liability

'Personal responsibility', one of the basic principles of social governance, requires one to be accountable for what one does. However, personal responsibility is far from the only norm ruling human interactions, especially in social and economic activities. In many collective communities such as among enterprise colleagues and family members, one's personal interests are often bound to others'-once one member breaks the rule, a group of people have to bear the punishment or sanction. Such a mechanism is termed 'joint liability'. Although many real-world cases have evidenced that joint liability can help to maintain collective collaboration, a deep and systematic theoretical analysis on how and when it promotes cooperation remains lacking. Here, we use evolutionary game theory to model an interacting system with joint liability, where one's losing credit could deteriorate the reputation of the whole group. We provide the analytical condition to predict when cooperation evolves and analytically prove that in the presence of punishment, being jointly liable greatly promotes cooperation. Our work stresses that joint liability is of great significance in promoting current economic prosperity.

Social norms in indirect reciprocity with ternary reputations

Indirect reciprocity is a key mechanism that promotes cooperation in social dilemmas by means of reputation. Although it has been a common practice to represent reputations by binary values, either ‘good’ or ‘bad’, such a dichotomy is a crude approximation considering the complexity of reality. In this work, we studied norms with three different reputations, i.e., ‘good’, ‘neutral’, and ‘bad’. Through massive supercomputing for handling more than thirty billion possibilities, we fully identified which norms achieve cooperation and possess evolutionary stability against behavioural mutants. By systematically categorizing all these norms according to their behaviours, we found similarities and dissimilarities to their binary-reputation counterpart, the leading eight. We obtained four rules that should be satisfied by the successful norms, and the behaviour of the leading eight can be understood as a special case of these rules. A couple of norms that show counter-intuitive behaviours are also presented. We believe the findings are also useful for designing successful norms with more general reputation systems.

The evolution of moral rules in a model of indirect reciprocity with private assessment

Moral rules allow humans to cooperate by indirect reciprocity. Yet, it is not clear which moral rules best implement indirect reciprocity and are favoured by natural selection. Previous studies either considered only public assessment, where individuals are deemed good or bad by all others, or compared a subset of possible strategies. Here we fill this gap by identifying which rules are evolutionary stable strategies (ESS) among all possible moral rules while considering private assessment. We develop an analytical model describing the frequency of long-term cooperation, determining when a strategy can be invaded by another. We show that there are numerous ESSs in absence of errors, which however cease to exist when errors are present. We identify the underlying properties of cooperative ESSs. Overall, this paper provides a first exhaustive evolutionary invasion analysis of moral rules considering private assessment. Moreover, this model is extendable to incorporate higher-order rules and other processes.

Evolution of cooperation in costly institutions exhibits Red Queen and Black Queen dynamics in heterogeneous public goods

Public goods are often subject to heterogeneous costs, such as the necessary costs to maintain the public goods infrastructure. However, the extent to which heterogeneity in participation cost can affect groups' ability to provide public goods is unclear. Here, by introducing a mathematical model, I show that when individuals face a costly institution and a free institution to perform a collective action task, the existence of a participation cost promotes cooperation in the costly institution. Despite paying for a participation cost, costly cooperators, who join the costly institution and cooperate, can outperform defectors who predominantly join a free institution. This promotes cooperation in the costly institution and can facilitate the evolution of cooperation in the free institution. For small profitability of the collective action, cooperation in a costly institution but not the free institution evolves. However, individuals are doomed to a winnerless red queen dynamics in which cooperators are unable to suppress defection. For large profitabilities, cooperation in both the costly and the free institution evolves. In this regime, cooperators with different game preferences complement each other to efficiently suppress defection in a black queen dynamic.

Honesty and dishonesty in gossip strategies: a fitness interdependence analysis

Gossip, or sharing information about absent others, has been identified as an effective solution to free rider problems in situations with conflicting interests. Yet, the information transmitted via gossip can be biased, because gossipers may send dishonest information about others for personal gains. Such dishonest gossip makes reputation-based cooperation more difficult to evolve. But when are people likely to share honest or dishonest gossip? We build formal models to provide the theoretical foundation for individuals' gossip strategies, taking into account the gossiper's fitness interdependence with the receiver and the target. Our models across four different games suggest a very simple rule: when there is a perfect match (mismatch) between fitness interdependence and the effect of honest gossip, the gossiper should always be honest (dishonest); however, in the case of a partial match, the gossiper should make a choice based on their fitness interdependence with the receiver and the target and the marginal cost/benefit in terms of pay-off differences caused by possible choices of the receiver and the target in the game. Moreover, gossipers can use this simple rule to make optimal decisions even under noise. We discuss empirical examples that support the predictions of our model and potential extensions.

This article is part of the theme issue ‘The language of cooperation: reputation and honest signalling’.

Networks of reliable reputations and cooperation: a review

Reputation has been shown to provide an informal solution to the problem of cooperation in human societies. After reviewing models that connect reputations and cooperation, we address how reputation results from information exchange embedded in a social network that changes endogenously itself. Theoretical studies highlight that network topologies have different effects on the extent of cooperation, since they can foster or hinder the flow of reputational information. Subsequently, we review models and empirical studies that intend to grasp the coevolution of reputations, cooperation and social networks. We identify open questions in the literature concerning how networks affect the accuracy of reputations, the honesty of shared information and the spread of reputational information. Certain network topologies may facilitate biased beliefs and intergroup competition or in-group identity formation that could lead to high cooperation within but conflicts between different subgroups of a network. Our review covers theoretical, experimental and field studies across various disciplines that target these questions and could explain how the dynamics of interactions and reputations help or prevent the establishment and sustainability of cooperation in small- and large-scale societies.

This article is part of the theme issue ‘The language of cooperation: reputation and honest signalling’.

The complexity of human cooperation under indirect reciprocity

Indirect reciprocity (IR) is a key mechanism to understand cooperation among unrelated individuals. It involves reputations and complex information processing, arising from social interactions. By helping someone, individuals may improve their reputation, which may be shared in a population and change the predisposition of others to reciprocate in the future. The reputation of individuals depends, in turn, on social norms that define a good or bad action, offering a computational and mathematical appealing way of studying the evolution of moral systems. Over the years, theoretical and empirical research has unveiled many features of cooperation under IR, exploring norms with varying degrees of complexity and information requirements. Recent results suggest that costly reputation spread, interaction observability and empathy are determinants of cooperation under IR. Importantly, such characteristics probably impact the level of complexity and information requirements for IR to sustain cooperation. In this review, we present and discuss those recent results. We provide a synthesis of theoretical models and discuss previous conclusions through the lens of evolutionary game theory and cognitive complexity. We highlight open questions and suggest future research in this domain. This article is part of the theme issue 'The language of cooperation: reputation and honest signalling'.

A unified framework of direct and indirect reciprocity

Direct and indirect reciprocity are key mechanisms for the evolution of cooperation. Direct reciprocity means that individuals use their own experience to decide whether to cooperate with another person. Indirect reciprocity means that they also consider the experiences of others. Although these two mechanisms are intertwined, they are typically studied in isolation. Here, we introduce a mathematical framework that allows us to explore both kinds of reciprocity simultaneously. We show that the well-known 'generous tit-for-tat' strategy of direct reciprocity has a natural analogue in indirect reciprocity, which we call 'generous scoring'. Using an equilibrium analysis, we characterize under which conditions either of the two strategies can maintain cooperation. With simulations, we additionally explore which kind of reciprocity evolves when members of a population engage in social learning to adapt to their environment. Our results draw unexpected connections between direct and indirect reciprocity while highlighting important differences regarding their evolvability.

The evolution of indirect reciprocity under action and assessment generosity

Indirect reciprocity is a mechanism for the evolution of cooperation based on social norms. This mechanism requires that individuals in a population observe and judge each other's behaviors. Individuals with a good reputation are more likely to receive help from others. Previous work suggests that indirect reciprocity is only effective when all relevant information is reliable and publicly available. Otherwise, individuals may disagree on how to assess others, even if they all apply the same social norm. Such disagreements can lead to a breakdown of cooperation. Here we explore whether the predominantly studied 'leading eight' social norms of indirect reciprocity can be made more robust by equipping them with an element of generosity. To this end, we distinguish between two kinds of generosity. According to assessment generosity, individuals occasionally assign a good reputation to group members who would usually be regarded as bad. According to action generosity, individuals occasionally cooperate with group members with whom they would usually defect. Using individual-based simulations, we show that the two kinds of generosity have a very different effect on the resulting reputation dynamics. Assessment generosity tends to add to the overall noise and allows defectors to invade. In contrast, a limited amount of action generosity can be beneficial in a few cases. However, even when action generosity is beneficial, the respective simulations do not result in full cooperation. Our results suggest that while generosity can favor cooperation when individuals use the most simple strategies of reciprocity, it is disadvantageous when individuals use more complex social norms.

Local reputation, local selection, and the leading eight norms

Humans are capable of solving cooperation problems following social norms. Social norms dictate appropriate behaviour and judgement on others in response to their previous actions and reputation. Recently, the so-called leading eight norms have been identified from many potential social norms that can sustain cooperation through a reputation-based indirect reciprocity mechanism. Despite indirect reciprocity being claimed to extend direct reciprocity in larger populations where direct experiences cannot be accumulated, the success of social norms have been analysed in models with global information and evolution. This study is the first to analyse the leading eight norms with local information and evolution. We find that the leading eight are robust against selfish players within most scenarios and can maintain a high level of cooperation also with local information and evolution. In fact, local evolution sustains cooperation under a wider set of conditions than global evolution, while local reputation does not hinder cooperation compared to global reputation. Four of the leading eight norms that do not reward justified defection offer better chances for cooperation with quick evolution, reputation with noise, larger networks, and when unconditional defectors enter the population.

Local stability of cooperation in a continuous model of indirect reciprocity

Reputation is a powerful mechanism to enforce cooperation among unrelated individuals through indirect reciprocity, but it suffers from disagreement originating from private assessment, noise, and incomplete information. In this work, we investigate stability of cooperation in the donation game by regarding each player's reputation and behaviour as continuous variables. Through perturbative calculation, we derive a condition that a social norm should satisfy to give penalties to its close variants, provided that everyone initially cooperates with a good reputation, and this result is supported by numerical simulation. A crucial factor of the condition is whether a well-reputed player's donation to an ill-reputed co-player is appreciated by other members of the society, and the condition can be reduced to a threshold for the benefit-cost ratio of cooperation which depends on the reputational sensitivity to a donor's behaviour as well as on the behavioural sensitivity to a recipient's reputation. Our continuum formulation suggests how indirect reciprocity can work beyond the dichotomy between good and bad even in the presence of inhomogeneity, noise, and incomplete information.

Adherence to public institutions that foster cooperation

Humans typically consider altruism a moral good and condition their social behavior on the moral reputations of others. Indirect reciprocity explains how social norms and reputations support cooperation: individuals cooperate with others who are considered good. Indirect reciprocity works when an institution monitors and publicly broadcasts moral reputations. Here we develop a theory of adherence to public monitoring in societies where individuals are, at first, independently responsible for evaluating the reputations of their peers. Using a mathematical model, we show that adherence to an institution of moral assessment can evolve and promote cooperation under four different social norms, including norms that previous studies found to perform poorly. We determine how an institution's size and its degree of tolerance towards anti-social behavior affect the rate of cooperation. Public monitoring serves to eliminate disagreements about reputations, which increases cooperation and payoffs, so that adherence evolves by social contagion and remains robust against displacement.

Emotion expressions shape human social norms and reputations

The emergence of pro-social behaviors remains a key open challenge across disciplines. In this context, there is growing evidence that expressing emotions may foster human cooperation. However, it remains unclear how emotions shape individual choices and interact with other cooperation mechanisms. Here, we provide a comprehensive experimental analysis of the interplay of emotion expressions with two important mechanisms: direct and indirect reciprocity. We show that cooperation in an iterated prisoner's dilemma emerges from the combination of the opponent's initial reputation, past behaviors, and emotion expressions. Moreover, all factors influenced the social norm adopted when assessing the action of others - i.e., how their counterparts' reputations are updated - thus, reflecting longer-term consequences. We expose a new class of emotion-based social norms, where emotions are used to forgive those that defect but also punish those that cooperate. These findings emphasize the importance of emotion expressions in fostering, directly and indirectly, cooperation in society.

Cooperation through Image Scoring: A Replication

“Image scoring” is a type of social evaluation, originally used in agent-based models, where the reputation of another is numerically assessed. This phenomenon has been studied in both theoretical models and real-life psychology experiments (using human participants). The latter are aimed to create conditions in the laboratory where image scoring can be elicited. One influential paper is that of Wedekind and Milinski (2000), WM. Our paper is a replication of that study, deliberately employing very similar methodology to the original. Accordingly, we had six groups of ten participants play an economic game. In each round, each player was randomly paired with another player whose identity was unknown. The participant was given a binary choice of either (1) donating money to that person, or (2) not donating money. In each round, the player was passively exposed to information about the past generosity of the other player. In our study, we successfully replicated the central result of WM. Participants in our replication gave significantly more money to partners with higher image scores (more generous reputations) than those with lower image scores (less generous reputations). This paper also provides a critical review of the methodology of WM and the study of image scoring.

The dynamics of injunctive social norms

Injunctive social norms are behaviours that one is expected to follow and expects others to follow in a given social situation; they are maintained by the threat of disapproval or punishment and by the process of internalization. Injunctive norms govern all aspects of our social life but the understanding of their effects on individual and group behaviour is currently rather incomplete. Here I develop a general mathematical approach describing the dynamics of injunctive norms in heterogeneous groups. My approach captures various costs and benefits, both material and normative, associated with norm-related behaviours including punishment and disapproval by others. It also allows for errors in decision-making and explicitly accounts for differences between individuals in their values, beliefs about the population state, and sensitivity to the actions of others. In addition, it enables one to study the consequences of mixing populations with different normative values and the effects of persuasive interventions. I describe how interactions of these factors affect individual and group behaviour. As an illustration, I consider policies developed by practitioners to abolish the norms of footbinding and female genital cutting, to decrease college students' drinking, and to increase pro-environmental behaviours. The theory developed here can be used for achieving a better understanding of historical and current social processes as well as for developing practical policies better accounting for human social behaviour.

Five rules for friendly rivalry in direct reciprocity

Direct reciprocity is one of the key mechanisms accounting for cooperation in our social life. According to recent understanding, most of classical strategies for direct reciprocity fall into one of two classes, ‘partners’ or ‘rivals’. A ‘partner’ is a generous strategy achieving mutual cooperation, and a ‘rival’ never lets the co-player become better off. They have different working conditions: For example, partners show good performance in a large population, whereas rivals do in head-to-head matches. By means of exhaustive enumeration, we demonstrate the existence of strategies that act as both partners and rivals. Among them, we focus on a human-interpretable strategy, named ‘CAPRI’ after its five characteristic ingredients, i.e., cooperate, accept, punish, recover, and defect otherwise. Our evolutionary simulation shows excellent performance of CAPRI in a broad range of environmental conditions.

Two ways to overcome the three social dilemmas of indirect reciprocity

Indirect reciprocity is one of the main principles of evolving cooperation in a social dilemma situation. In reciprocity, a positive score is given to cooperative behaviour while a negative score is given to non-cooperative behaviour, and the dilemma is resolved by selectively cooperating only with those with positive scores. However, many studies have shown that non-cooperation with those who have not cooperated also downgrades one's reputation; they have called this situation the scoring dilemma. To address this dilemma, the notion of justified punishments has been considered. The notion of justified punishment allows good individuals who defect against bad co-players to keep their standing. Despite numerous studies on justified punishment, it is unknown whether this solution leads to a new type of dilemma because reputations may be downgraded when the intent of punishment is not correctly communicated. The dilemma of punishment has so far been rarely analysed, and thus, the complete solution of the mechanism for evolving cooperation using the principle of indirect reciprocity has not been found yet. Here, we identify sufficient conditions to overcome each of the three dilemmas including the dilemma of punishment to maintain stable cooperation by using the framework of evolutionary game theory. This condition includes the principle of detecting free riders, which resolves the social dilemma, the principle of justification, which resolves the scoring dilemma, and the principle of generosity, which resolves the dilemma of punishment. A norm that satisfies these principles can stably maintain social cooperation. Our insights may offer a general assessment principle that applies to a wide range of subjects, from individual actions to national decisions.

A Review of Theoretical Studies on Indirect Reciprocity

Despite the accumulation of research on indirect reciprocity over the past 30 years and the publication of over 100,000 related papers, there are still many issues to be addressed. Here, we look back on the research that has been done on indirect reciprocity and identify the issues that have been resolved and the ones that remain to be resolved. This manuscript introduces indirect reciprocity in the context of the evolution of cooperation, basic models of social dilemma situations, the path taken in the elaboration of mathematical analysis using evolutionary game theory, the discovery of image scoring norms, and the breakthroughs brought about by the analysis of the evolutionary instability of the norms. Moreover, it presents key results obtained by refining the assessment function, resolving the punishment dilemma, and presenting a complete solution to the social dilemma problem. Finally, it discusses the application of indirect reciprocity in various disciplines.

Indirect reciprocity with simple records

Indirect reciprocity is a foundational mechanism of human cooperation. Existing models of indirect reciprocity fail to robustly support social cooperation: Image-scoring models fail to provide robust incentives, while social-standing models are not informationally robust. Here we provide a model of indirect reciprocity based on simple, decentralized records: Each individual's record depends on the individual's own past behavior alone, and not on the individual's partners' past behavior or their partners' partners' past behavior. When social dilemmas exhibit a coordination motive (or strategic complementarity), tolerant trigger strategies based on simple records can robustly support positive social cooperation and exhibit strong stability properties. In the opposite case of strategic substitutability, positive social cooperation cannot be robustly supported. Thus, the strength of short-run coordination motives in social dilemmas determines the prospects for robust long-run cooperation.

Seasonal payoff variations and the evolution of cooperation in social dilemmas

Varying environmental conditions affect relations between interacting individuals in social dilemmas, thus affecting also the evolution of cooperation. Oftentimes these environmental variations are seasonal and can therefore be mathematically described as periodic changes. Accordingly, we here study how periodic shifts between different manifestations of social dilemmas affect cooperation. We observe a non-trivial interplay between the inherent spatiotemporal dynamics that characterizes the spreading of cooperation in a particular social dilemma type and the frequency of payoff changes. In particular, we show that periodic changes between two available games with global ordering best be fast, while periodic changes between global and local ordering games best be slow for cooperation to thrive. We also show that the frequency of periodic changes between two local ordering social dilemmas is irrelevant, because then the process is fast and simply the average cooperation level of the two is returned. The structure of the interaction network plays an important role too in that lattices promote local ordering, whilst random graphs hinder the formation of compact cooperative clusters. Conversely, for local ordering the regular structure of the interaction network is only marginally relevant as role-separating checkerboard patterns do not rely on long-range order.

A mathematical look at empathy

When an individual makes a judgement about the actions of another individual, taking the latter's viewpoint into consideration enhances cooperation in society at large.

Evolution of empathetic moral evaluation

Social norms can promote cooperation by assigning reputations to individuals based on their past actions. A good reputation indicates that an individual is likely to reciprocate. A large body of research has established norms of moral assessment that promote cooperation, assuming reputations are objective. But without a centralized institution to provide objective evaluation, opinions about an individual’s reputation may differ across a population. In this setting we study the role of empathy–the capacity to form moral evaluations from another person’s perspective. We show that empathy tends to foster cooperation by reducing the rate of unjustified defection. The norms of moral evaluation previously considered most socially beneficial depend on high levels of empathy, whereas different norms maximize social welfare in populations incapable of empathy. Finally, we show that empathy itself can evolve through social contagion. We conclude that a capacity for empathy is a key component for sustaining cooperation in societies.

When meerkats have pups, they employ an individual to stand guard and warn the others of potential dangers and predators, putting their own life at risk. What seems like a selfless act is actually a common behavior found throughout the animal kingdom. But rather than acting out of concern for another ones wellbeing, it is considered to be an altruistic behavior towards kin, where an individual sacrifices its own reproductive success for the sake of the reproductive fitness of its entire clan.

In human societies, however, people often act altruistically towards unrelated individuals and have developed sophisticated systems of moral evaluation to decide who is worthy of cooperation and likely to reciprocate a favor. In other words, individuals will only help those who have a good reputation for being altruistic themselves. However, for this system to work, reputations need to be public knowledge, and societies need to agree on everyones reputations. But what happens when opinions about an individual's reputation are private and vary across a population?

Now, Radzvilavicius et al. wanted to find out whether altruism can emerge when people have different opinions about each others moral reputations. To do so, they used a so-called evolutionary game theory a mathematical description of how strategies change in a population over time. In their model, each individual could decide if they wanted to pay a personal cost to create a benefit for another individual. Each participant decided whether to act altruistically based on the reputation of the recipient; observers could update the individuals reputation based on their behavior.

The mathematical model revealed that when people are more empathetic and able to put themselves in someone elses shoes, altruism tends to spread over time. When people take into account different opinions and form moral judgements from another person's perspective, the population can sustain a higher level of cooperation. Moreover, the capacity for taking another person's perspective can itself evolve and remain stable in a population meaning that those individuals who evaluate each other empathetically tend to do better, and empathy spreads through social influence.

These findings can help us understand how empathy might have evolved in societies that value reputation as a means of reciprocity. A next step could be to test the theory developed by Radzvilavicius et al. in manipulative experiments, or to compare the theory to field data on reputations and behavior in online interactions.