{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T22:14:54Z","timestamp":1760220894308,"version":"build-2065373602"},"publisher-location":"Cham","reference-count":57,"publisher":"Springer Nature Switzerland","isbn-type":[{"value":"9783032080639","type":"print"},{"value":"9783032080646","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:00:00Z","timestamp":1760227200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:00:00Z","timestamp":1760227200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-3-032-08064-6_2","type":"book-chapter","created":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:45:04Z","timestamp":1760219104000},"page":"23-41","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Measuring Cooperation with\u00a0Counterfactual Planning"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9612-3096","authenticated-orcid":false,"given":"Samuel A.","family":"Barnett","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0006-1430-8729","authenticated-orcid":false,"given":"Kathryn","family":"Wantlin","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5704-6654","authenticated-orcid":false,"given":"Ryan P.","family":"Adams","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,10,12]]},"reference":[{"key":"2_CR1","unstructured":"Agapiou, J.P., et\u00a0al.: Melting Pot 2.0. arXiv preprint arXiv:2211.13746 (2022)"},{"key":"2_CR2","doi-asserted-by":"crossref","unstructured":"Alpcan, T., Ba\u015far, T.: Network Security: A Decision and Game-Theoretic Approach. Cambridge University Press (2010)","DOI":"10.1017\/CBO9780511760778"},{"key":"2_CR3","unstructured":"Arrow, K.J., Sen, A., Suzumura, K.: Handbook of Social Choice and Welfare, vol.\u00a02. Elsevier (2010)"},{"issue":"4489","key":"2_CR4","doi-asserted-by":"publisher","first-page":"1390","DOI":"10.1126\/science.7466396","volume":"211","author":"R Axelrod","year":"1981","unstructured":"Axelrod, R., Hamilton, W.D.: The evolution of cooperation. Science 211(4489), 1390\u20131396 (1981)","journal-title":"Science"},{"key":"2_CR5","unstructured":"Bradbury, J., et al.: JAX: composable transformations of Python+NumPy programs (2018). http:\/\/github.com\/google\/jax"},{"key":"2_CR6","doi-asserted-by":"crossref","unstructured":"Dafoe, A., Bachrach, Y., Hadfield, G., Horvitz, E., Larson, K., Graepel, T.: Cooperative AI: machines must learn to find common ground (2021)","DOI":"10.1038\/d41586-021-01170-0"},{"key":"2_CR7","unstructured":"Dafoe, A., et al.: Open problems in cooperative AI. arXiv preprint arXiv:2012.08630 (2020)"},{"key":"2_CR8","doi-asserted-by":"crossref","unstructured":"Dawes, R.M.: Social dilemmas. Ann. Rev. Psychol. (1980)","DOI":"10.1146\/annurev.ps.31.020180.001125"},{"key":"2_CR9","unstructured":"Du, Y., Leibo, J.Z., Islam, U., Willis, R., Sunehag, P.: A review of cooperation in multi-agent learning. arXiv preprint arXiv:2312.05162 (2023)"},{"issue":"11","key":"2_CR10","doi-asserted-by":"publisher","first-page":"1181","DOI":"10.1038\/s42256-023-00754-x","volume":"5","author":"EA Du\u00e9\u00f1ez-Guzm\u00e1n","year":"2023","unstructured":"Du\u00e9\u00f1ez-Guzm\u00e1n, E.A., Sadedin, S., Wang, J.X., McKee, K.R., Leibo, J.Z.: A social path to human-like artificial intelligence. Nat. Mach. Intell. 5(11), 1181\u20131188 (2023)","journal-title":"Nat. Mach. Intell."},{"key":"2_CR11","unstructured":"Foerster, J.N.: Deep Multi-agent Reinforcement Learning. Ph.D. thesis, University of Oxford (2018)"},{"key":"2_CR12","doi-asserted-by":"publisher","unstructured":"Foerster, J.N., Farquhar, G., Afouras, T., Nardelli, N., Whiteson, S.: Counterfactual multi-agent policy gradients. In: McIlraith, S.A., Weinberger, K.Q. (eds.) Proceedings of the Thirty-Second AAAI Conference on Artificial Intelligence, (AAAI-18), the 30th innovative Applications of Artificial Intelligence (IAAI-18), and the 8th AAAI Symposium on Educational Advances in Artificial Intelligence (EAAI-18), New Orleans, Louisiana, USA, February 2-7, 2018. pp. 2974\u20132982. AAAI Press (2018). https:\/\/doi.org\/10.1609\/AAAI.V32I1.11794","DOI":"10.1609\/AAAI.V32I1.11794"},{"key":"2_CR13","doi-asserted-by":"crossref","unstructured":"Hamilton, W.D., Hamilton, W.D.: Narrow roads of gene land: evolution of social behaviour, vol.\u00a01. Oxford University Press on Demand (1996)","DOI":"10.1093\/oso\/9780716745518.001.0001"},{"key":"2_CR14","unstructured":"Hertz, U., Koster, R., Janssen, M., Leibo, J.Z.: Beyond the matrix: experimental approaches to studying social-ecological systems (2023)"},{"key":"2_CR15","unstructured":"Hughes, E., et\u00a0al.: Inequity aversion improves cooperation in intertemporal social dilemmas. In: Advances in Neural Information Processing Systems, vol. 31 (2018)"},{"key":"2_CR16","unstructured":"Jaques, N., et al.: Social influence as intrinsic motivation for multi-agent deep reinforcement learning. In: International Conference on Machine Learning, pp. 3040\u20133049. PMLR (2019)"},{"key":"2_CR17","unstructured":"Kleiman-Weiner, M., Ho, M.K., Austerweil, J.L., Littman, M.L., Tenenbaum, J.B.: Coordinate to cooperate or compete: abstract goals and joint intentions in social interaction. In: CogSci (2016)"},{"issue":"1","key":"2_CR18","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1146\/annurev.soc.24.1.183","volume":"24","author":"P Kollock","year":"1998","unstructured":"Kollock, P.: Social dilemmas: the anatomy of cooperation. Ann. Rev. Sociol. 24(1), 183\u2013214 (1998)","journal-title":"Ann. Rev. Sociol."},{"issue":"2","key":"2_CR19","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1016\/j.cosrev.2009.04.003","volume":"3","author":"E Koutsoupias","year":"2009","unstructured":"Koutsoupias, E., Papadimitriou, C.: Worst-case equilibria. Comput. Sci. Rev. 3(2), 65\u201369 (2009)","journal-title":"Comput. Sci. Rev."},{"key":"2_CR20","doi-asserted-by":"crossref","unstructured":"Kropotkin, K.P.: Mutual Aid: A Factor of Evolution. Black Rose Books Ltd. (2021)","DOI":"10.2307\/j.ctv1jk0jrs.18"},{"key":"2_CR21","unstructured":"Leibo, J.Z., Hughes, E., Lanctot, M., Graepel, T.: Autocurricula and the emergence of innovation from social interaction: a manifesto for multi-agent intelligence research. arXiv preprint arXiv:1903.00742 (2019)"},{"key":"2_CR22","unstructured":"Leibo, J.Z., Zambaldi, V., Lanctot, M., Marecki, J., Graepel, T.: Multi-agent reinforcement learning in sequential social dilemmas. In: Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems, pp. 464\u2013473 (2017)"},{"key":"2_CR23","unstructured":"Lerer, A., Peysakhovich, A.: Maintaining cooperation in complex social dilemmas using deep reinforcement learning. arXiv preprint arXiv:1707.01068 (2017)"},{"key":"2_CR24","unstructured":"Loftin, R., Bandyopadhyay, S., \u00c7elikok, M.M.: On the complexity of learning to cooperate with populations of socially rational agents (2024). https:\/\/arxiv.org\/abs\/2407.00419"},{"key":"2_CR25","unstructured":"Luce, R.D., Raiffa, H.: Games and Decisions: introduction and critical survey. Courier Corporation (1989)"},{"key":"2_CR26","doi-asserted-by":"crossref","unstructured":"Macy, M.W., Flache, A.: Learning dynamics in social dilemmas. In: Proceedings of the National Academy of Sciences, vol. 99(suppl_3), pp. 7229\u20137236 (2002)","DOI":"10.1073\/pnas.092080099"},{"key":"2_CR27","unstructured":"Mao, Y., et al.: Doing the right thing for the right reason: evaluating artificial moral cognition by probing cost insensitivity. arXiv preprint arXiv:2305.18269 (2023)"},{"key":"2_CR28","doi-asserted-by":"crossref","unstructured":"Mazrooei, P., Archibald, C., Bowling, M.: Automating collusion detection in sequential games. In: Proceedings of the AAAI Conference on Artificial Intelligence, vol.\u00a027, pp. 675\u2013682 (2013)","DOI":"10.1609\/aaai.v27i1.8674"},{"key":"2_CR29","doi-asserted-by":"crossref","unstructured":"Mordatch, I., Abbeel, P.: Emergence of grounded compositional language in multi-agent populations. arXiv preprint arXiv:1703.04908 (2017)","DOI":"10.1609\/aaai.v32i1.11492"},{"issue":"6432","key":"2_CR30","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1038\/364056a0","volume":"364","author":"M Nowak","year":"1993","unstructured":"Nowak, M., Sigmund, K.: A strategy of win-stay, lose-shift that outperforms tit-for-tat in the prisoner\u2019s dilemma game. Nature 364(6432), 56\u201358 (1993)","journal-title":"Nature"},{"issue":"1","key":"2_CR31","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1177\/0048393112457428","volume":"44","author":"C Paternotte","year":"2014","unstructured":"Paternotte, C.: Minimal cooperation. Philos. Soc. Sci. 44(1), 45\u201373 (2014)","journal-title":"Philos. Soc. Sci."},{"key":"2_CR32","doi-asserted-by":"crossref","unstructured":"Pe\u00f1a, J., N\u00f6ldeke, G.: Cooperative dilemmas with binary actions and multiple players (2023)","DOI":"10.31219\/osf.io\/8y2z5"},{"key":"2_CR33","unstructured":"Peng, B., et al.: FACMAC: factored multi-agent centralised policy gradients. In: Advances in Neural Information Processing Systems, vol. 34, pp. 12208\u201312221 (2021)"},{"key":"2_CR34","unstructured":"Perolat, J., Leibo, J.Z., Zambaldi, V., Beattie, C., Tuyls, K., Graepel, T.: A multi-agent reinforcement learning model of common-pool resource appropriation. In: Advances in Neural Information Processing Systems, vol. 30 (2017)"},{"key":"2_CR35","unstructured":"Rapoport, A., Chammah, A.M., Orwant, C.J.: Prisoner\u2019s Dilemma: A Study in Conflict and Cooperation, vol.\u00a0165. University of Michigan press (1965)"},{"key":"2_CR36","unstructured":"Rutherford, A., et\u00a0al.: JaxMARL: multi-agent RL environments and algorithms in JAX. In: Proceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems, pp. 2444\u20132446 (2024)"},{"key":"2_CR37","unstructured":"Schelling, T.C.: The Strategy of Conflict: with a new Preface by the Author. Harvard University Press (1980)"},{"key":"2_CR38","unstructured":"Schulman, J., Wolski, F., Dhariwal, P., Radford, A., Klimov, O.: Proximal policy optimization algorithms. arXiv preprint arXiv:1707.06347 (2017)"},{"key":"2_CR39","unstructured":"Shapley, L.S.: Notes on the n-person game \u2013 ii: The value of an n-person game. Tech. Rep. RM-670-PR, RAND Corporation, Santa Monica, California (1951)"},{"issue":"10","key":"2_CR40","doi-asserted-by":"publisher","first-page":"1095","DOI":"10.1073\/pnas.39.10.1095","volume":"39","author":"LS Shapley","year":"1953","unstructured":"Shapley, L.S.: Stochastic games. Proc. Natl. Acad. Sci. 39(10), 1095\u20131100 (1953)","journal-title":"Proc. Natl. Acad. Sci."},{"key":"2_CR41","doi-asserted-by":"crossref","unstructured":"Shoham, Y., Leyton-Brown, K.: Multiagent systems: algorithmic, game-theoretic, and logical foundations. Cambridge University Press (2008)","DOI":"10.1017\/CBO9780511811654"},{"key":"2_CR42","unstructured":"Singer-Clark, T.: Morality metrics on iterated prisoners dilemma players (2014)"},{"key":"2_CR43","unstructured":"Sutton, R.S., Barto, A.G.: Reinforcement Learning: An Introduction. MIT press (2018)"},{"key":"2_CR44","doi-asserted-by":"crossref","unstructured":"Tan, M.: Multi-agent reinforcement learning: independent vs. cooperative agents. In: Proceedings of the Tenth International Conference on Machine Learning, pp. 330\u2013337 (1993)","DOI":"10.1016\/B978-1-55860-307-3.50049-6"},{"key":"2_CR45","unstructured":"Tang, N., Gong, S., Zhao, M., Gu, C., Zhou, J., Shen, M., Gao, T.: Exploring an imagined \u201cwe\u201d in human collective hunting: Joint commitment within shared intentionality. In: Proceedings of the Annual Meeting of the Cognitive Science Society, vol.\u00a044 (2022)"},{"key":"2_CR46","unstructured":"Tang, N., Stacy, S., Zhao, M., Marquez, G., Gao, T.: Bootstrapping an imagined we for cooperation. In: CogSci (2020)"},{"key":"2_CR47","doi-asserted-by":"crossref","unstructured":"Tomasello, M.: Why We Cooperate. MIT press (2009)","DOI":"10.7551\/mitpress\/8470.001.0001"},{"issue":"1","key":"2_CR48","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1086\/406755","volume":"46","author":"RL Trivers","year":"1971","unstructured":"Trivers, R.L.: The evolution of reciprocal altruism. Q. Rev. Biol. 46(1), 35\u201357 (1971)","journal-title":"Q. Rev. Biol."},{"key":"2_CR49","doi-asserted-by":"crossref","unstructured":"Tuomela, R.: What is cooperation? Erkenntnis, 87\u2013101 (1993)","DOI":"10.1007\/BF01129023"},{"key":"2_CR50","doi-asserted-by":"crossref","unstructured":"Vinitsky, E., et al.: A learning agent that acquires social norms from public sanctions in decentralized multi-agent settings. Collective Intell. 2(2) (2023)","DOI":"10.1177\/26339137231162025"},{"key":"2_CR51","unstructured":"Wang, J., Zhang, Y., Gu, Y., Kim, T.K.: SHAQ: incorporating Shapley value theory into multi-agent Q-learning. In: Koyejo, S., Mohamed, S., Agarwal, A., Belgrave, D., Cho, K., Oh, A. (eds.) Advances in Neural Information Processing Systems, vol.\u00a035, pp. 5941\u20135954. Curran Associates, Inc. (2022). https:\/\/proceedings.neurips.cc\/paper_files\/paper\/2022\/file\/27985d21f0b751b933d675930aa25022-Paper-Conference.pdf"},{"issue":"2","key":"2_CR52","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1111\/j.1420-9101.2006.01258.x","volume":"20","author":"SA West","year":"2007","unstructured":"West, S.A., Griffin, A.S., Gardner, A.: Social semantics: altruism, cooperation, mutualism, strong reciprocity and group selection. J. Evol. Biol. 20(2), 415\u2013432 (2007)","journal-title":"J. Evol. Biol."},{"key":"2_CR53","doi-asserted-by":"crossref","unstructured":"Willis, R., Du, Y., Leibo, J.Z., Luck, M.: Resolving social dilemmas with minimal reward transfer. arXiv preprint arXiv:2310.12928 (2023)","DOI":"10.1007\/s10458-024-09675-4"},{"key":"2_CR54","first-page":"24611","volume":"35","author":"C Yu","year":"2022","unstructured":"Yu, C., et al.: The surprising effectiveness of PPO in cooperative multi-agent games. Adv. Neural. Inf. Process. Syst. 35, 24611\u201324624 (2022)","journal-title":"Adv. Neural. Inf. Process. Syst."},{"key":"2_CR55","unstructured":"Yuan, L., Zhang, Z., Li, L., Guan, C., Yu, Y.: A survey of progress on cooperative multi-agent reinforcement learning in open environment (2023)"},{"key":"2_CR56","doi-asserted-by":"crossref","unstructured":"Zhao, M., Tang, N., Dahmani, A.L., Zhu, Y., Rossano, F., Gao, T.: Sharing rewards undermines coordinated hunting. J. Comput. Biol. (2022)","DOI":"10.1089\/cmb.2021.0549"},{"issue":"1","key":"2_CR57","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1016\/j.cose.2009.06.008","volume":"29","author":"CV Zhou","year":"2010","unstructured":"Zhou, C.V., Leckie, C., Karunasekera, S.: A survey of coordinated attacks and collaborative intrusion detection. Comput. Secur. 29(1), 124\u2013140 (2010)","journal-title":"Comput. Secur."}],"container-title":["Lecture Notes in Computer Science","Game Theory and AI for Security"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-032-08064-6_2","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:45:31Z","timestamp":1760219131000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-032-08064-6_2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,12]]},"ISBN":["9783032080639","9783032080646"],"references-count":57,"URL":"https:\/\/doi.org\/10.1007\/978-3-032-08064-6_2","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,12]]},"assertion":[{"value":"12 October 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Disclosure of Interests"}},{"value":"GameSec","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Game Theory and AI for Security","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Athens","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Greece","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13 October 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"15 October 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"16","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"gamesec2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.gamesec-conf.org\/index.php","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}