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Will_Sawin comments on Robust Cooperation in the Prisoner's Dilemma - Less Wrong
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One simple way to study this is the game where one player chooses PsTitTatBot[N] for some N, and another player chooses any bot. Since this game has an infinite number of strategies, Nash equilibria are poorly behaved. Still, complete mutual cooperation occurs in some Nash equilibria. I have not completely studied which other possibilities can occur.