My first question is whether an interactive proof system characterisation is known for all the classic complexity classes. I would call P, NP, PSPACE, EXP, NEXP,EXPSPACE, recursive and recursively enumerable functions classic (among others). Specifically,is an interactive proof system characterisation known for recursive and recursively enumerable functions?
I only know that IP = PSPACE and that MIP = NEXPTIME. By `know' means I understand the definitions of objects on both sides of the equality and possibly understand the equality.
My second question is whether there is a graphical summary of different types of interactive proof systems and the complexity classes they characterise.
Specifically, I would like a reference to a figure similar to Immerman's picture of description complexity characterisations.