In a simple model, we show that a joint venture can implement the rate
s of investment that maximize joint profit when firms' research abilit
ies are private information. This can be done with budget balance, eve
n though there are participation constraints. There is no conflict bet
ween budget balance and participation constraints because firms' payof
fs can depend on ex post signals of abilities. The conflict between bu
dget balance and participation constraints is restored when both abili
ties and rates of investment are unobservable. We give a condition und
er which the profit-maximizing rates of investment can be implemented
if we relax budget balance.