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Building autonomous vehicles (AVs) is a complex problem, but enabling them to operate in the real world where they will be surrounded by human-driven vehicles (HVs) is extremely challenging. Prior works have shown the possibilities of creating inter-agent cooperation between a group of AVs that follow a social utility. Such altruistic AVs can form alliances and affect the behavior of HVs to achieve socially desirable outcomes. We identify two major challenges in the co-existence of AVs and HVs. First, social preferences and individual traits of a given human driver, e.g., selflessness and aggressiveness are unknown to an AV, and it is almost impossible to infer them in real-time during a short AV-HV interaction. Second, contrary to AVs that are expected to follow a policy, HVs do not necessarily follow a stationary policy and therefore are extremely hard to predict. To alleviate the above-mentioned challenges, we formulate the mixed-autonomy problem as a multi-agent reinforcement learning (MARL) problem and propose a decentralized framework and reward function for training cooperative AVs. Our approach enables AVs to learn the decision-making of HVs implicitly from experience, optimizes for a social utility while prioritizing safety and allowing adaptability; robustifying altruistic AVs to different human behaviors and constraining them to a safe action space. Finally, we investigate the robustness, safety and sensitivity of AVs to various HVs behavioral traits and present the settings in which the AVs can learn cooperative policies that are adaptable to different situations.