The paper considers functional linear regression, where scalar responses $Y_1,...,Y_n$ are modeled in dependence of random functions $X_1,...,X_n$. We propose a smoothing splines estimator for the functional slope parameter based on a slight modification of the usual penalty. Theoretical analysis concentrates on the error in an out-of-sample prediction of the response for a new random function $X_{n+1}$. It is shown that rates of convergence of the prediction error depend on the smoothness of the slope function and on the structure of the predictors. We then prove that these rates are optimal in the sense that they are minimax over large classes of possible slope functions and distributions of the predictive curves. For the case of models with errors-in-variables the smoothing spline estimator is modified by using a denoising correction of the covariance matrix of discretized curves. The methodology is then applied to a real case study where the aim is to predict the maximum of the concentration of ozone by using the curve of this concentration measured the preceding day.
This paper addresses asymptotic properties of general penalized spline estimators with an arbitrary B-spline degree and an arbitrary order difference penalty. The estimator is approximated by a solution of a linear differential equation subject to suitable boundary conditions. It is shown that, in certain sense, the penalized smoothing corresponds approximately to smoothing by the kernel method. The equivalent kernels for both inner points and boundary points are obtained with the help of Green's functions of the differential equation. Further, the asymptotic normality is established for the e…
This paper considers the development of spatially adaptive smoothing splines for the estimation of a regression function with non-homogeneous smoothness across the domain. Two challenging issues that arise in this context are the evaluation of the equivalent kernel and the determination of a local penalty. The roughness penalty is a function of the design points in order to accommodate local behavior of the regression function. It is shown that the spatially adaptive smoothing spline estimator is approximately a kernel estimator. The resulting equivalent kernel is spatially dependent. The equi…
In this paper, we explore statistical versus computational trade-off to address a basic question in the application of a distributed algorithm: what is the minimal computational cost in obtaining statistical optimality? In smoothing spline setup, we observe a phase transition phenomenon for the number of deployed machines that ends up being a simple proxy for computing cost. Specifically, a sharp upper bound for the number of machines is established: when the number is below this bound, statistical optimality (in terms of nonparametric estimation or testing) is achievable; otherwise, statistic…
Application of nonparametric and semiparametric regression techniques to high-dimensional time series data has been hampered due to the lack of effective tools to address the ``curse of dimensionality.'' Under rather weak conditions, we propose spline-backfitted kernel estimators of the component functions for the nonlinear additive time series data that are both computationally expedient so they are usable for analyzing very high-dimensional time series, and theoretically reliable so inference can be made on the component functions with confidence. Simulation experiments have provided strong …
Quantile regression predicts the $τ$-quantile of the conditional distribution of a response variable given the explanatory variable for $τ\in(0,1)$. The aim of this paper is to establish the asymptotic distribution of the quantile estimator obtained by penalized spline method. A simulation and an exploration of real data are performed to validate our results.
This paper is concerned with asymptotic theory for penalized spline estimator in bivariate additive model. The focus of this paper is put upon the penalized spline estimator obtained by the backfitting algorithm. The convergence of the algorithm as well as the uniqueness of its solution are shown. The asymptotic bias and variance of penalized spline estimator are derived by an efficient use of the asymptotic results for the penalized spline estimator in marginal univariate model. Asymptotic normality of estimator is also developed, by which an approximate confidence interval can be obtained. S…
This paper develops a general theory on rates of convergence of penalized spline estimators for function estimation when the likelihood functional is concave in candidate functions, where the likelihood is interpreted in a broad sense that includes conditional likelihood, quasi-likelihood, and pseudo-likelihood. The theory allows all feasible combinations of the spline degree, the penalty order, and the smoothness of the unknown functions. According to this theory, the asymptotic behaviors of the penalized spline estimators depends on interplay between the spline knot number and the penalty pa…
In this paper, we propose a new semiparametric regression estimator by using a hybrid technique of a parametric approach and a nonparametric penalized spline method. The overall shape of the true regression function is captured by the parametric part, while its residual is consistently estimated by the nonparametric part. Asymptotic theory for the proposed semiparametric estimator is developed, showing that its behavior is dependent on the asymptotics for the nonparametric penalized spline estimator as well as on the discrepancy between the true regression function and the parametric part. As …
This article studies local and global inference for smoothing spline estimation in a unified asymptotic framework. We first introduce a new technical tool called functional Bahadur representation, which significantly generalizes the traditional Bahadur representation in parametric models, that is, Bahadur [Ann. Inst. Statist. Math. 37 (1966) 577-580]. Equipped with this tool, we develop four interconnected procedures for inference: (i) pointwise confidence interval; (ii) local likelihood ratio testing; (iii) simultaneous confidence band; (iv) global likelihood ratio testing. In particular, our…
University of California, Santa Barbara（加州大学圣巴巴拉分校）
Smoothing splines provide a powerful and flexible means for nonparametric estimation and inference. With a cubic time complexity, fitting smoothing spline models to large data is computationally prohibitive. In this paper, we use the theoretical optimal eigenspace to derive a low rank approximation of the smoothing spline estimates. We develop a method to approximate the eigensystem when it is unknown and derive error bounds for the approximate estimates. The proposed methods are easy to implement with existing software. Extensive simulations show that the new methods are accurate, fast, and c…
This paper discusses asymptotic theory for penalized spline estimators in generalized additive models. The purpose of this paper is to establish the asymptotic bias and variance as well as the asymptotic normality of the penalized spline estimators proposed by Marx and Eilers (1998). Furthermore, the asymptotics for the penalized quasi likelihood fit in mixed models are also discussed.
We consider estimation of a functional of the data distribution based on i.i.d. observations. We assume the target function can be defined as the minimizer of the expectation of a loss function over a class of $d$-variate real valued cadlag functions that have finite sectional variation norm. For all $k=0,1,\ldots$, we define a $k$-th order smoothness class of functions as $d$-variate functions on the unit cube for which each of a sequentially defined $k$-th order Radon-Nikodym derivative w.r.t. Lebesgue measure is cadlag and of bounded variation. For a target function in this $k$-th order smo…
We consider estimation and inference in a single index regression model with an unknown but smooth link function. In contrast to the standard approach of using kernels or regression splines, we use smoothing splines to estimate the smooth link function. We develop a method to compute the penalized least squares estimators (PLSEs) of the parametric and the nonparametric components given independent and identically distributed (i.i.d.)~data. We prove the consistency and find the rates of convergence of the estimators. We establish asymptotic normality under under mild assumption and prove asympt…
Penalized spline smoothing of time series and its asymptotic properties are studied. A data-driven algorithm for selecting the smoothing parameter is developed. The proposal is applied to define a semiparametric extension of the well-known Spline-GARCH, called a P-Spline-GARCH, based on the log-data transformation of the squared returns. It is shown that now the errors process is exponentially strong mixing with finite moments of all orders. Asymptotic normality of the P-spline smoother in this context is proved. Practical relevance of the proposal is illustrated by data examples and simulatio…
Nonparametric Density Estimation for Data Scattered on Irregular Spatial Domains: A Likelihood-Based Approach Using Bivariate Penalized Spline Smoothing
The analysis of the joint cumulative distribution function (CDF) with bivariate event time data is a challenging problem both theoretically and numerically. This paper develops a tensor spline-based sieve maximum likelihood estimation method to estimate the joint CDF with bivariate current status data. The I-splines are used to approximate the joint CDF in order to simplify the numerical computation of a constrained maximum likelihood estimation problem. The generalized gradient projection algorithm is used to compute the constrained optimization problem. Based on the properties of B-spline ba…
We propose a two-step estimating procedure for generalized additive partially linear models with clustered data using estimating equations. Our proposed method applies to the case that the number of observations per cluster is allowed to increase with the number of independent subjects. We establish oracle properties for the two-step estimator of each function component such that it performs as well as the univariate function estimator by assuming that the parametric vector and all other function components are known. Asymptotic distributions and consistency properties of the estimators are ob…
This report studies local asymptotics of P-splines with $p$th degree B-splines and a $m$th order difference penalty. Earlier work with $p$ and $m$ restricted is extended to the general case. Asymptotically, penalized splines are kernel estimators with equivalent kernels depending on $m$, but not on $p$. A central limit theorem provides simple expressions for the asymptotic mean and variance. Provided it is fast enough, the divergence rate of the number of knots does not affect the asymptotic distribution. The optimal convergence rate of the penalty parameter is given.
Consider the problem when $X_1,X_2,..., X_n$ are distributed on a circle following an unknown distribution $F$ on $S^1$. In this article we have consider the absolute general set-up where the density can have local features such as discontinuities and edges. Furthermore, there can be outlying data which can follow some discrete distributions. The traditional Kernel Density Estimation methods fail to identify such local features in the data. Here we device a non-parametric density estimate on $S^1$, by the use of a novel technique which we term as Fourier Spline. We have also tried to identify …
Penalized spline regression is a popular method for scatterplot smoothing, but there has long been a debate on how to construct confidence intervals for penalized spline fits. Due to the penalty, the fitted smooth curve is a biased estimate of the target function. Many methods, including Bayesian intervals and the simple-shift bias-reduction, have been proposed to upgrade the coverage of the confidence intervals, but these methods usually fail to adequately improve the situation at predictor values where the function is sharply curved. In this paper, we develop a novel approach to improving th…
In several different fields, there is interest in analyzing the upper or lower tail quantile of the underlying distribution rather than mean or center quantile. However, the investigation of the tail quantile is difficult because of data sparsity. In this paper, we attempt to develop nonparametric quantile regression for the extremal quantile level. In extremal quantile regression, there are two types of technical conditions of the order of convergence of the quantile level: intermediate order or extreme order. For the intermediate order quantile, the ordinary nonparametric estimator is used. …
The k-monotone classes of densities defined on (0, \infty) have been known in the mathematical literature but were for the first time considered from a statistical point of view by Balabdaoui and Wellner (2007, 2010). In these works, the authors generalized the results established for monotone (k=1) and convex (k=2) densities by giving a characterization of the Maximum Likelihood and Least Square estimators (MLE and LSE) and deriving minimax bounds for rates of convergence. For k strictly larger than 2, the pointwise asymptotic behavior of the MLE and LSE studied by Balabdaoui and Wellner (200…
In this paper, we consider the filtering and smoothing recursions in nonparametric finite state space hidden Markov models (HMMs) when the parameters of the model are unknown and replaced by estimators. We provide an explicit and time uniform control of the filtering and smoothing errors in total variation norm as a function of the parameter estimation errors. We prove that the risk for the filtering and smoothing errors may be uniformly upper bounded by the risk of the estimators. It has been proved very recently that statistical inference for finite state space nonparametric HMMs is possible…
In this paper we develop and study adaptive empirical Bayesian smoothing splines. These are smoothing splines with both smoothing parameter and penalty order determined via the empirical Bayes method from the marginal likelihood of the model. The selected order and smoothing parameter are used to construct adaptive credible sets with good frequentist coverage for the underlying regression function. We use these credible sets as a proxy to show the superior performance of adaptive empirical Bayesian smoothing splines compared to frequentist smoothing splines.
Multivariate density estimation and graphical models play important roles in statistical learning. The estimated density can be used to construct a graphical model that reveals conditional relationships whereas a graphical structure can be used to build models for density estimation. Our goal is to construct a consolidated framework that can perform both density and graph estimation. Denote $\bm{Z}$ as the random vector of interest with density function $f(\bz)$. Splitting $\bm{Z}$ into two parts, $\bm{Z}=(\bm{X}^T,\bm{Y}^T)^T$ and writing $f(\bz)=f(\bx)f(\by|\bx)$ where $f(\bx)$ is the densit…
Almost sure bounds are established on the uniform error of smoothing spline estimators in nonparametric regression with random designs. Some results of Einmahl and Mason (2005) are used to derive uniform error bounds for the approximation of the spline smoother by an ``equivalent'' reproducing kernel regression estimator, as well as for proving uniform error bounds on the reproducing kernel regression estimator itself, uniformly in the smoothing parameter over a wide range. This admits data-driven choices of the smoothing parameter.
We study trend filtering, a recently proposed tool of Kim et al. [SIAM Rev. 51 (2009) 339-360] for nonparametric regression. The trend filtering estimate is defined as the minimizer of a penalized least squares criterion, in which the penalty term sums the absolute $k$th order discrete derivatives over the input points. Perhaps not surprisingly, trend filtering estimates appear to have the structure of $k$th degree spline functions, with adaptively chosen knot points (we say ``appear'' here as trend filtering estimates are not really functions over continuous domains, and are only defined over…
Smoothing Spline ANOVA (SS-ANOVA) models in reproducing kernel Hilbert spaces (RKHS) provide a very general framework for data analysis, modeling and learning in a variety of fields. Discrete, noisy scattered, direct and indirect observations can be accommodated with multiple inputs and multiple possibly correlated outputs and a variety of meaningful structures. The purpose of this paper is to give a brief overview of the approach and describe and contrast a series of applications, while noting some recent results.
In this paper we introduce a new class of diffeomorphic smoothers based on general spline smoothing techniques and on the use of some tools that have been recently developed in the context of image warping to compute smooth diffeomorphisms. This diffeomorphic spline is defined as the solution of an ordinary differential equation governed by an appropriate time-dependent vector field. This solution has a closed form expression which can be computed using classical unconstrained spline smoothing techniques. This method does not require the use of quadratic or linear programming under inequality …
Establishing the convergence of splines can be cast as a variational problem which is amenable to a $Γ$-convergence approach. We consider the case in which the regularization coefficient scales with the number of observations, $n$, as $λ_n=n^{-p}$. Using standard theorems from the $Γ$-convergence literature, we prove that the general spline model is consistent in that estimators converge in a sense slightly weaker than weak convergence in probability for $p\leq \frac{1}{2}$. Without further assumptions we show this rate is sharp. This differs from rates for strong convergence using Hilbert sca…
We consider the problem of comparing probability densities between two groups. A new probabilistic tensor product smoothing spline framework is developed to model the joint density of two variables. Under such a framework, the probability density comparison is equivalent to testing the presence/absence of interactions. We propose a penalized likelihood ratio test for such interaction testing and show that the test statistic is asymptotically chi-square distributed under the null hypothesis. Furthermore, we derive a sharp minimax testing rate based on the Bernstein width for nonparametric two-s…
The smoothing spline is one of the most popular curve-fitting methods, partly because of empirical evidence supporting its effectiveness and partly because of its elegant mathematical formulation. However, there are two obstacles that restrict the use of smoothing spline in practical statistical work. Firstly, it becomes computationally prohibitive for large data sets because the number of basis functions roughly equals the sample size. Secondly, its global smoothing parameter can only provide constant amount of smoothing, which often results in poor performances when estimating inhomogeneous …
This article develops a unified framework to study the asymptotic properties of all periodic spline-based estimators, that is, of regression, penalized and smoothing splines. The explicit form of the periodic Demmler-Reinsch basis in terms of exponential splines allows the derivation of an expression for the asymptotic equivalent kernel on the real line for all spline estimators simultaneously. The corresponding bandwidth, which drives the asymptotic behavior of spline estimators, is shown to be a function of the number of knots and the smoothing parameter. Strategies for the selection of the …
This paper deals with a general class of transformation models that contains many important semiparametric regression models as special cases. It develops a self-induced smoothing for the maximum rank correlation estimator, resulting in simultaneous point and variance estimation. The self-induced smoothing does not require bandwidth selection, yet provides the right amount of smoothness so that the estimator is asymptotically normal with mean zero (unbiased) and variance-covariance matrix consistently estimated by the usual sandwich-type estimator. An iterative algorithm is given for the varia…
We propose a generalized partially linear functional single index risk score model for repeatedly measured outcomes where the index itself is a function of time. We fuse the nonparametric kernel method and regression spline method, and modify the generalized estimating equation to facilitate estimation and inference. We use local smoothing kernel to estimate the unspecified coefficient functions of time, and use B-splines to estimate the unspecified function of the single index component. The covariance structure is taken into account via a working model, which provides valid estimation and in…
We propose to smooth the entire objective function, rather than only the check function, in a linear quantile regression context. Not only does the resulting smoothed quantile regression estimator yield a lower mean squared error and a more accurate Bahadur-Kiefer representation than the standard estimator, but it is also asymptotically differentiable. We exploit the latter to propose a quantile density estimator that does not suffer from the curse of dimensionality. This means estimating the conditional density function without worrying about the dimension of the covariate vector. It also all…
Motivated by recent data analyses in biomedical imaging studies, we consider a class of image-on-scalar regression models for imaging responses and scalar predictors. We propose using flexible multivariate splines over triangulations to handle the irregular domain of the objects of interest on the images, as well as other characteristics of images. The proposed estimators of the coefficient functions are proved to be root-n consistent and asymptotically normal under some regularity conditions. We also provide a consistent and computationally efficient estimator of the covariance function. Asym…
Density estimation plays a fundamental role in many areas of statistics and machine learning. Parametric, nonparametric and semiparametric density estimation methods have been proposed in the literature. Semiparametric density models are flexible in incorporating domain knowledge and uncertainty regarding the shape of the density function. Existing literature on semiparametric density models is scattered and lacks a systematic framework. In this paper, we consider a unified framework based on the reproducing kernel Hilbert space for modeling, estimation, computation and theory. We propose gene…
We adapt the interactive spline model of Wahba to growth curves with covariates. The smoothing spline formulation permits a non-parametric representation of the growth curves. In the limit when the discretization error is small relative to the estimation error, the resulting growth curve estimates often depend only weakly on the number and locations of the knots. The smoothness parameter is determined from the data by minimizing an empirical estimate of the expected error. We show that the risk estimate of Craven and Wahba is a weighted goodness of fit estimate. A modified loss estimate is giv…
University of Massachusetts, Amherst（马萨诸塞大学阿默斯特分校）
This paper studies the asymptotic behavior of penalized spline estimates of derivatives. In particular, we show that simply differentiating the penalized spline estimator of the mean regression function itself to estimate the corresponding derivative achieves the optimal L2 rate of convergence.
Smoothing splines can be thought of as the posterior mean of a Gaussian process regression in a certain limit. By constructing a reproducing kernel Hilbert space with an appropriate inner product, the Bayesian form of the V-spline is derived when the penalty term is a fixed constant instead of a function. An extension to the usual generalized cross-validation formula is utilized to find the optimal V-spline parameters.
Despite their widespread use in practice, the asymptotic properties of Bayesian penalized splines have not been investigated so far. We close this gap and study posterior concentration rates for Bayesian penalized splines in a Gaussian nonparametric regression model. A key feature of the approach is the hyperprior on the smoothing variance, which allows for adaptive smoothing in practice but complicates the theoretical analysis considerably as it destroys conjugacy and precludes analytic expressions for the posterior moments. To derive our theoretical results, we rely on several new concepts i…
We propose a new method for model selection and model fitting in multivariate nonparametric regression models, in the framework of smoothing spline ANOVA. The ``COSSO'' is a method of regularization with the penalty functional being the sum of component norms, instead of the squared norm employed in the traditional smoothing spline method. The COSSO provides a unified framework for several recent proposals for model selection in linear models and smoothing spline ANOVA models. Theoretical properties, such as the existence and the rate of convergence of the COSSO estimator, are studied. In the …
In this paper we consider a version of the functional Hodrick-Prescott filter for functional time series. We show that the associated optimal smoothing operator preserves the 'noise-to-signal' structure. Moreover, we propose a consistent estimator of this optimal smoothing operator.
We explore the connections between Green's functions for certain differential equations, covariance functions for Gaussian processes, and the smoothing splines problem. Conventionally, the smoothing spline problem is considered in a setting of reproducing kernel Hilbert spaces, but here we present a more direct approach. With this approach, some choices that are implicit in the reproducing kernel Hilbert space setting stand out, one example being choice of boundary conditions and more elaborate shape restrictions. The paper first explores the Laplace operator and the Poisson equation and studi…
We apply nonparametric Bayesian methods to study the problem of estimating the intensity function of an inhomogeneous Poisson process. We exhibit a prior on intensities which both leads to a computationally feasible method and enjoys desirable theoretical optimality properties. The prior we use is based on B-spline expansions with free knots, adapted from well-established methods used in regression, for instance. We illustrate its practical use in the Poisson process setting by analyzing count data coming from a call centre. Theoretically we derive a new general theorem on contraction rates fo…
