Although much previous work describes evolutionary mechanisms that promote or stabilize different social behaviors, we still have little understanding of the factors that drive animal behavior proximately. Here we present a modeling approach to answer this question. Our model rests on motivations to achieve objectives as the proximate determinants of behavior. We develop a two-tiered framework by first modeling the dynamics of a social interaction at the behavioral time scale and then find the evolutionarily stable objectives that result from the outcomes these dynamics produce. We use this framework to ask whether "other-regarding" motivations, which result from a kind of nonselfish objective, can evolve when individuals are engaged in a social interaction that entails a conflict between their material payoffs. We find that, at the evolutionarily stable state, individuals can be other-regarding in that they are motivated to increase their partners' payoff as well as their own. In contrast to previous theories, we find that such motivations can evolve because of their direct effect on fitness and do not require kin selection or a special group structure. We also derive general conditions for the evolutionary stability of other-regarding motivations. Our conditions indicate that other-regarding motivations are more likely to evolve when social interactions and behavioral objectives are both synergistic.A nimal behavior is determined both by proximate mechanisms that dictate an animal's actions in real time and by evolutionary forces that shape these proximate mechanisms. Even though the evolutionary dynamics of social behavior have been extensively studied (1-4), proximate mechanisms of behavior and how they interface with evolutionary forces remain poorly understood (4). In recent years, some models have integrated a proximate mechanism with an evolutionary analysis (5, 6). Furthermore, an explicitly two-tiered approach with potentially cooperative behavioral dynamics embedded in an evolutionary dynamic has been proposed (7) as necessary to understand the evolution of social behavior. We contribute to this literature by developing a unified framework for modeling the evolution of a specific type of behavioral interaction based on a well-defined proximate mechanism.Our proximate mechanism is based on the notion that animals are motivated to achieve certain objectives. Goal-seeking behavior has been a recurring theme in animal behavior and has been an integral part of earlier ethological thinking (e.g. 8, 9). However, this idea lost its prominence after the emergence of modern behavioral ecology, which focuses mainly on the fitness consequences of behavior (see, for example, page 6 of ref. 10). In addition, proximate models of behavior based on goal-seeking have focused mostly on nonsocial behaviors such as foraging (9) and have rarely considered social interactions. Here, we study goal-seeking behavior in the context of a social interaction by developing a model of a pair of interacting animals whose motivations ...