In this paper, we study first the problem of nonparametric estimation of the stationary density $f$ of a discrete-time Markov chain $(X_i)$. We consider a collection of projection estimators on finite dimensional linear spaces. We select an estimator among the collection by minimizing a penalized contrast. The same technique enables to estimate the density $g$ of $(X_i, X_{i+1})$ and so to provide an adaptive estimator of the transition density $π=g/f$. We give bounds in $L^2$ norm for these estimators and we show that they are adaptive in the minimax sense over a large class of Besov spaces. Some examples and simulations are also provided.
In this study, we develop an asymptotic theory of nonparametric regression for a locally stationary functional time series. First, we introduce the notion of a locally stationary functional time series (LSFTS) that takes values in a semi-metric space. Then, we propose a nonparametric model for LSFTS with a regression function that changes smoothly over time. We establish the uniform convergence rates of a class of kernel estimators, the Nadaraya-Watson (NW) estimator of the regression function, and a central limit theorem of the NW estimator.
In this paper we consider multivariate Hawkes processes with baseline hazard and kernel functions that depend on time. This defines a class of locally stationary processes. We discuss estimation of the time-dependent baseline hazard and kernel functions based on a localized criterion. Theory on stationary Hawkes processes is extended to develop asymptotic theory for the estimator in the locally stationary model.
We consider nonparametric estimation for functional autoregressive processes with Markov switching. First, we study the case where complete data is available; i.e. when we observe the Markov switching regime. Then we estimate the regression function in each regime using a Nadaraya-Watson type estimator. Second, we introduce a nonparametric recursive algorithm in the case of hidden Markov switching regime. Our algorithm restores the missing data by means of a Monte-Carlo step and estimate the regression function via a Robbins-Monro step. Consistency of the estimators are proved in both cases. F…
Nonparametric identification and maximum likelihood estimation for finite-state hidden Markov models are investigated. We obtain identification of the parameters as well as the order of the Markov chain if the transition probability matrices have full-rank and are ergodic, and if the state-dependent distributions are all distinct, but not necessarily linearly independent. Based on this identification result, we develop nonparametric maximum likelihood estimation theory. First, we show that the asymptotic contrast, the Kullback--Leibler divergence of the hidden Markov model, identifies the true…
This paper considers hidden Markov models where the observations are given as the sum of a latent state which lies in a general state space and some independent noise with unknown distribution. It is shown that these fully nonparametric translation models are identifiable with respect to both the distribution of the latent variables and the distribution of the noise, under mostly a light tail assumption on the latent variables. Two nonparametric estimation methods are proposed and we prove that the corresponding estimators are consistent for the weak convergence topology. These results are ill…
Finite state space hidden Markov models are flexible tools to model phenomena with complex time dependencies: any process distribution can be approximated by a hidden Markov model with enough hidden states.We consider the problem of estimating an unknown process distribution using nonparametric hidden Markov models in the misspecified setting, that is when the data-generating process may not be a hidden Markov model.We show that when the true distribution is exponentially mixing and satisfies a forgetting assumption, the maximum likelihood estimator recovers the best approximation of the true …
This paper presents a nonparametric method for estimating the conditional density associated to the jump rate of a piecewise-deterministic Markov process. In our framework, the estimation needs only one observation of the process within a long time interval. Our method relies on a generalization of Aalen's multiplicative intensity model. We prove the uniform consistency of our estimator, under some reasonable assumptions related to the primitive characteristics of the process. A simulation example illustrates the behavior of our estimator.
In this paper, we investigate a nonparametric approach to provide a recursive estimator of the transition density of a non-stationary piecewise-deterministic Markov process, from only one observation of the path within a long time. In this framework, we do not observe a Markov chain with transition kernel of interest. Fortunately, one may write the transition density of interest as the ratio of the invariant distributions of two embedded chains of the process. Our method consists in estimating these invariant measures. We state a result of consistency and a central limit theorem under some gen…
Given a nonparametric Hidden Markov Model (HMM) with two states, the question of constructing efficient multiple testing procedures is considered, treating one of the states as an unknown null hypothesis. A procedure is introduced, based on nonparametric empirical Bayes ideas, that controls the False Discovery Rate (FDR) at a user--specified level. Guarantees on power are also provided, in the form of a control of the true positive rate. One of the key steps in the construction requires supremum--norm convergence of preliminary estimators of the emission densities of the HMM. We provide the ex…
This article considers a nonparametric method for detecting change points in non-stationary time series. The proposed method will divide the time series into several segments so that between two adjacent segments, the normalized spectral density functions are different. The theory is based on the assumption that within each segment, time series is a linear process, which means that our method works not only for classic time series models, e.g., causal and invertible ARMA process, but also preserves good performance for non-invertible moving average process. We show that our estimations for cha…
In this paper, we introduce a new estimator for the emission densities of a nonparametric hidden Markov model. It is adaptive and minimax with respect to each state's regularity--as opposed to globally minimax estimators, which adapt to the worst regularity among the emission densities. Our method is based on Goldenshluger and Lepski's methodology. It is computationally efficient and only requires a family of preliminary estimators, without any restriction on the type of estimators considered. We present two such estimators that allow to reach minimax rates up to a logarithmic term: a spectral…
We consider a stochastic individual-based model in continuous time to describe a size-structured population for cell divisions. This model is motivated by the detection of cellular aging in biology. We address here the problem of nonparametric estimation of the kernel ruling the divisions based on the eigenvalue problem related to the asymptotic behavior in large population. This inverse problem involves a multiplicative deconvolution operator. Using Fourier technics we derive a nonparametric estimator whose consistency is studied. The main difficulty comes from the non-standard equations conn…
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…
This paper deals with nonparametric maximum likelihood estimation for Gaussian locally stationary processes. Our nonparametric MLE is constructed by minimizing a frequency domain likelihood over a class of functions. The asymptotic behavior of the resulting estimator is studied. The results depend on the richness of the class of functions. Both sieve estimation and global estimation are considered. Our results apply, in particular, to estimation under shape constraints. As an example, autoregressive model fitting with a monotonic variance function is discussed in detail, including algorithmic …
A piecewise-deterministic Markov process is a stochastic process whose behavior is governed by an ordinary differential equation punctuated by random jumps occurring at random times. We focus on the nonparametric estimation problem of the jump rate for such a stochastic model observed within a long time interval under an ergodicity condition. We introduce an uncountable class (indexed by the deterministic flow) of recursive kernel estimates of the jump rate and we establish their strong pointwise consistency as well as their asymptotic normality. We propose to choose among this class the estim…
In this study, we develop an asymptotic theory of nonparametric regression for locally stationary random fields (LSRFs) $\{{\bf X}_{{\bf s}, A_{n}}: {\bf s} \in R_{n} \}$ in $\mathbb{R}^{p}$ observed at irregularly spaced locations in $R_{n} =[0,A_{n}]^{d} \subset \mathbb{R}^{d}$. We first derive the uniform convergence rate of general kernel estimators, followed by the asymptotic normality of an estimator for the mean function of the model. Moreover, we consider additive models to avoid the curse of dimensionality arising from the dependence of the convergence rate of estimators on the number…
In this paper, we consider a piecewise deterministic Markov process (PDMP), with known flow and deterministic transition measure, and unknown jump rate $λ$. To estimate nonparametrically the jump rate, we first construct an adaptive estimator of the stationary density, then we derive a quotient estimator $\hatλ_n$ of $λ$. We provide uniform bounds for the risk of these estimators, and prove that the estimator of the jump rate is nearly minimax (up to a $\ln^2(n)$ factor). Simulations illustrate the behavior of our estimator.
We consider the problem of estimating the context tree of a stationary ergodic process with finite alphabet without imposing additional conditions on the process. As a starting point we introduce a Hamming metric in the space of irreducible context trees and we use the properties of the weak topology in the space of ergodic stationary processes to prove that if the Hamming metric is unbounded, there exist no consistent estimators for the context tree. Even in the bounded case we show that there exist no two-sided confidence bounds. However we prove that one-sided inference is possible in this …
We consider the problem of estimating the slope parameter in functional linear regression, where scalar responses Y1,...,Yn are modeled in dependence of second order stationary random functions X1,...,Xn. An orthogonal series estimator of the functional slope parameter with additional thresholding in the Fourier domain is proposed and its performance is measured with respect to a wide range of weighted risks covering as examples the mean squared prediction error and the mean integrated squared error for derivative estimation. In this paper the minimax optimal rate of convergence of the estimat…
With regard to a three-step estimation procedure, proposed without theoretical discussion by Li and You in Journal of Applied Statistics and Management, for a nonparametric regression model with time-varying regression function, local stationary regressors and time-varying AR(p) (tvAR(p)) error process , we established all necessary asymptotic properties for each of estimator. We derive the convergence rate and asymptotic normality of the preliminary estimation of nonparametric regression function, establish the asymptotic distribution of time-varying coefficient functions in the error term, a…
We investigate the behavior of the Generalized Likelihood Ratio Test (GLRT) (Fan, Zhang and Zhang [Ann. Statist. 29 (2001) 153-193]) for time varying coefficient models where the regressors and errors are non-stationary time series and can be cross correlated. It is found that the GLRT retains the minimax rate of local alternative detection under weak dependence and non-stationarity. However, in general, the Wilks phenomenon as well as the classic residual bootstrap are sensitive to either conditional heteroscedasticity of the errors, non-stationarity or temporal dependence. An averaged test i…
We introduce a hierarchical nonparametric model for probability measures based on a multi-resolution transformation of probability distributions. The model allows a varying amount of shrinkage to be applied to data features of different scales and/or at different locations in the sample space, and the varying shrinkage level is locally adaptive to the empirical behavior of the data. Moreover, the model's hierarchical design---through a latent Markov tree structure---allows borrowing of information across locations and scales in setting the adaptive shrinkage level. Inference under the model pr…
In this paper, we develop nonparametric inference on spatial regression models as an extension of Lu and Tj\ostheim(2014), which develops nonparametric inference on density functions of stationary spatial processes under domain expanding and infill (DEI) asymptotics. In particular, we derive multivariate central limit theorems of mean and variance functions of nonparametric spatial regression models. Built upon those results, we propose a method to construct confidence bands for mean and variance functions.
We derive an asymptotic theory of nonparametric estimation for a time series regression model $Z_t=f(X_t)+W_t$, where \ensuremath\{X_t\} and \ensuremath\{Z_t\} are observed nonstationary processes and $\{W_t\}$ is an unobserved stationary process. In econometrics, this can be interpreted as a nonlinear cointegration type relationship, but we believe that our results are of wider interest. The class of nonstationary processes allowed for $\{X_t\}$ is a subclass of the class of null recurrent Markov chains. This subclass contains random walk, unit root processes and nonlinear processes. We deriv…
We consider discrete time models for asset prices with a stationary volatility process. We aim at estimating the multivariate density of this process at a set of consecutive time instants. A Fourier type deconvolution kernel density estimator based on the logarithm of the squared process is proposed to estimate the volatility density. Expansions of the bias and bounds on the variance are derived.
We provide new asymptotic theory for kernel density estimators, when these are applied to autoregressive processes exhibiting moderate deviations from a unit root. This fills a gap in the existing literature, which has to date considered only nearly integrated and stationary autoregressive processes. These results have applications to nonparametric predictive regression models. In particular, we show that the null rejection probability of a nonparametric t test is controlled uniformly in the degree of persistence of the regressor. This provides a rigorous justification for the validity of the …
The present paper deals with a nonparametric M-estimation for right censored regression model with stationary ergodic data. Defined as an implicit function, a kernel type estimator of a family of robust regression is considered when the covariate take its values in R^d (d >= 1) and the data are sampled from stationary ergodic process. The strong consistency (with rate) and the asymptotic distribution of the estimator are established under mild assumptions. Moreover, a usable confidence interval is provided which does not depend on any unknown quantity. Our results hold without any mixing condi…
SISSA（国际高等研究学院）；INFN Sezione di Trieste（意大利国家核物理研究所的里雅斯特分部）；University of Camerino（卡梅里诺大学）
We introduce a new nonparametric density estimator inspired by Markov Chains, and generalizing the well-known Kernel Density Estimator (KDE). Our estimator presents several benefits with respect to the usual ones and can be used straightforwardly as a foundation in all density-based algorithms. We prove the consistency of our estimator and we find it typically outperforms KDE in situations of large sample size and high dimensionality. We also employ our density estimator to build a local outlier detector, showing very promising results when applied to some realistic datasets.
In this paper we propose a new test for the hypothesis of a constant coefficient of variation in the common nonparametric regression model. The test is based on an estimate of the $L^2$-distance between the square of the regression function and variance function. We prove asymptotic normality of a standardized estimate of this distance under the null hypothesis and fixed alternatives and the finite sample properties of a corresponding bootstrap test are investigated by means of a simulation study. The results are applicable to stationary processes with the common mixing conditions and are used…
We study the problem of estimating the coefficients of a diffusion (X_t,t\geq 0); the estimation is based on discrete data X_{nΔ},n=0,1,...,N. The sampling frequency Δ^{-1} is constant, and asymptotics are taken as the number N of observations tends to infinity. We prove that the problem of estimating both the diffusion coefficient (the volatility) and the drift in a nonparametric setting is ill-posed: the minimax rates of convergence for Sobolev constraints and squared-error loss coincide with that of a, respectively, first- and second-order linear inverse problem. To ensure ergodicity and li…
Competing risks model time to first event and type of first event. An example from hospital epidemiology is the incidence of hospital-acquired infection, which has to account for hospital discharge of non-infected patients as a competing risk. An illness-death model would allow to further study hospital outcomes of infected patients. Such a model typically relies on a Markov assumption. However, it is conceivable that the future course of an infected patient does not only depend on the time since hospital admission and current infection status but also on the time since infection. We demonstra…
In this paper we find nonasymptotic exponential upper bounds for the deviation in the ergodic theorem for families of homogeneous Markov processes. We find some sufficient conditions for geometric ergodicity uniformly over a parametric family. We apply this property to the nonasymptotic nonparametric estimation problem for ergodic diffusion processes.
In this work a method for statistical analysis of time series is proposed, which is used to obtain solutions to some classical problems of mathematical statistics under the only assumption that the process generating the data is stationary ergodic. Namely, three problems are considered: goodness-of-fit (or identity) testing, process classification, and the change point problem. For each of the problems a test is constructed that is asymptotically accurate for the case when the data is generated by stationary ergodic processes. The tests are based on empirical estimates of distributional distan…
We consider nonparametric estimation of the transition operator $P$ of a Markov chain and its transition density $p$ where the singular values of $P$ are assumed to decay exponentially fast. This is for instance the case for periodised, reversible multi-dimensional diffusion processes observed in low frequency. We investigate the performance of a spectral hard thresholded Galerkin-type estimator for $P$ and ${p}$, discarding most of the estimated singular triplets. The construction is based on smooth basis functions such as wavelets or B-splines. We show its statistical optimality by establish…
For multivariate time series driven by underlying states, hidden Markov models (HMMs) constitute a powerful framework which can be flexibly tailored to the situation at hand. However, in practice it can be challenging to choose an adequate emission distribution for multivariate observation vectors. For example, the marginal data distribution may not immediately reveal the within-state distributional form, and also the different data streams may operate on different supports, rendering the common approach of using a multivariate normal distribution inadequate. Here we explore a nonparametric es…
Markov jump processes (MJPs) are used to model a wide range of phenomena from disease progression to RNA path folding. However, maximum likelihood estimation of parametric models leads to degenerate trajectories and inferential performance is poor in nonparametric models. We take a small-variance asymptotics (SVA) approach to overcome these limitations. We derive the small-variance asymptotics for parametric and nonparametric MJPs for both directly observed and hidden state models. In the parametric case we obtain a novel objective function which leads to non-degenerate trajectories. To derive…
We consider the nonparametric robust estimation problem for regression models in continuous time with semi-Markov noises. An adaptive model selection procedure is proposed. Under general moment conditions on the noise distribution a sharp non-asymptotic oracle inequality for the robust risks is obtained and the robust efficiency is shown. It turns out that for semi-Markov models the robust minimax convergence rate may be faster or slower than the classical one.
Two adaptive bandwidth selection methods for nonparametric estimators in locally stationary processes are proposed. We investigate a cross validation approach and a method based on contrast minimization and derive asymptotic properties of both methods. The results are applicable for different statistics under a broad setting of locally stationarity including nonlinear processes. At the same time we deepen the general framework for local stationarity based on stationary approximations. For example a general Bernstein inequality is derived for such processes. A simulation study performed on the …
Measure-valued Markov chains have raised interest in Bayesian nonparametrics since the seminal paper by (Math. Proc. Cambridge Philos. Soc. 105 (1989) 579--585) where a Markov chain having the law of the Dirichlet process as unique invariant measure has been introduced. In the present paper, we propose and investigate a new class of measure-valued Markov chains defined via exchangeable sequences of random variables. Asymptotic properties for this new class are derived and applications related to Bayesian nonparametric mixture modeling, and to a generalization of the Markov chain proposed by (M…
Frequently, clinical trials and observational studies involve complex event history data with multiple events. When the observations are independent, the analysis of such studies can be based on standard methods for multi-state models. However, the independence assumption is often violated, such as in multicenter studies, which makes the use of standard methods improper. In this work we address the issue of nonparametric estimation and two-sample testing for the population-averaged transition and state occupation probabilities under general multi-state models based on right-censored, left-trun…
In this paper we study posterior consistency for different topologies on the parameters for hidden Markov models with finite state space. We first obtain weak and strong posterior consistency for the marginal density function of finitely many consecutive observations. We deduce posterior consistency for the different components of the parameter. We also obtain posterior consistency for marginal smoothing distributions in the discrete case. We finally apply our results to independent emission probabilities, translated emission probabilities and discrete HMMs, under various types of priors.
We introduce a three-parameter random walk with reinforcement, called the $(θ,α,β)$ scheme, which generalizes the linearly edge reinforced random walk to uncountable spaces. The parameter $β$ smoothly tunes the $(θ,α,β)$ scheme between this edge reinforced random walk and the classical exchangeable two-parameter Hoppe urn scheme, while the parameters $α$ and $θ$ modulate how many states are typically visited. Resorting to de Finetti's theorem for Markov chains, we use the $(θ,α,β)$ scheme to define a nonparametric prior for Bayesian analysis of reversible Markov chains. The prior is applied in…
For the class of Gauss-Markov processes we study the problem of asymptotic equivalence of the nonparametric regression model with errors given by the increments of the process and the continuous time model, where a whole path of a sum of a deterministic signal and the Gauss-Markov process can be observed. In particular we provide sufficient conditions such that asymptotic equivalence of the two models holds for functions from a given class, and we verify these for the special cases of Sobolev ellipsoids and Hölder classes with smoothness index $> 1/2$ under mild assumptions on the Gauss-Markov…
We consider stationary hidden Markov models with finite state space and nonparametric modeling of the emission distributions. It has remained unknown until very recently that such models are identifiable. In this paper, we propose a new penalized least-squares esti-mator for the emission distributions which is statistically optimal and practically tractable. We prove a non asymptotic oracle inequality for our nonparametric estimator of the emission distributions. A consequence is that this new estimator is rate minimax adaptive up to a logarithmic term. Our methodology is based on projections …
In this paper, we study nonparametric models allowing for locally stationary regressors and a regression function that changes smoothly over time. These models are a natural extension of time series models with time-varying coefficients. We introduce a kernel-based method to estimate the time-varying regression function and provide asymptotic theory for our estimates. Moreover, we show that the main conditions of the theory are satisfied for a large class of nonlinear autoregressive processes with a time-varying regression function. Finally, we examine structured models where the regression fu…
We consider the problem of estimating the number of hidden states (the order) of a nonparametric hidden Markov model (HMM). We propose two different methods and prove their almost sure consistency without any prior assumption, be it on the order or on the emission distributions. This is the first time a consistency result is proved in such a general setting without using restrictive assumptions such as a priori upper bounds on the order or parametric restrictions on the emission distributions. Our main method relies on the minimization of a penalized least squares criterion. In addition to the…
We propose several statistics to test the Markov hypothesis for $β$-mixing stationary processes sampled at discrete time intervals. Our tests are based on the Chapman--Kolmogorov equation. We establish the asymptotic null distributions of the proposed test statistics, showing that Wilks's phenomenon holds. We compute the power of the test and provide simulations to investigate the finite sample performance of the test statistics when the null model is a diffusion process, with alternatives consisting of models with a stochastic mean reversion level, stochastic volatility and jumps.
In numerous applications data are observed at random times and an estimated graph of the spectral density may be relevant for characterizing and explaining phenomena. By using a wavelet analysis, one derives a nonparametric estimator of the spectral density of a Gaussian process with stationary increments (or a stationary Gaussian process) from the observation of one path at random discrete times. For every positive frequency, this estimator is proved to satisfy a central limit theorem with a convergence rate depending on the roughness of the process and the moment of random durations between …
We propose a sequential Markov chain Monte Carlo (SMCMC) algorithm to sample from a sequence of probability distributions, corresponding to posterior distributions at different times in on-line applications. SMCMC proceeds as in usual MCMC but with the stationary distribution updated appropriately each time new data arrive. SMCMC has advantages over sequential Monte Carlo (SMC) in avoiding particle degeneracy issues. We provide theoretical guarantees for the marginal convergence of SMCMC under various settings, including parametric and nonparametric models. The proposed approach is compared to…
