The forgetting of the initial distribution for discrete Hidden Markov Models (HMM) is addressed: a new set of conditions is proposed, to establish the forgetting property of the filter, at a polynomial and geometric rate. Both a pathwise-type convergence of the total variation distance of the filter started from two different initial distributions, and a convergence in expectation are considered. The results are illustrated using different HMM of interest: the dynamic tobit model, the non-linear state space model and the stochastic volatility model.
We give simple conditions that ensure exponential forgetting of the initial conditions of the filter for general state-space hidden Markov chain. The proofs are based on the coupling argument applied to the posterior Markov kernels. These results are useful both for filtering hidden Markov models using approximation methods (e.g., particle filters) and for proving asymptotic properties of estimators. The results are general enough to cover models like the Gaussian state space model, without using the special structure that permits the application of the Kalman filter.
In this paper, we consider a parametric hidden Markov model where the hidden state space is non necessarily finite. We provide a necessary and sufficient condition for the invertibility of the limiting Fisher information matrix.
This is a supplementary material to the paper "Online Expectation Maximization based algorithms for inference in hidden Markov models". It contains further technical derivations and additional simulation results.
We obtain a perfect sampling characterization of weak ergodicity for backward products of finite stochastic matrices, and equivalently, simultaneous tail triviality of the corresponding nonhomogeneous Markov chains. Applying these ideas to hidden Markov models, we show how to sample exactly from the finite-dimensional conditional distributions of the signal process given infinitely many observations, using an algorithm which requires only an almost surely finite number of observations to actually be accessed. A notion of "successful" coupling is introduced and its occurrence is characterized i…
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 report introduces a parsimonious structure for mixture of autoregressive models, where the weighting coefficients are determined through latent random variables as functions of all past observations. These variables follow a hidden Markov model. We modify EM and Baum-Welch algorithms to estimate the parameters of the model.
A hidden Markov model with trends is a hidden Markov model whose emission distributions are translated by a trend that depends on the current hidden state and on the current time. Contrary to standard hidden Markov models, such processes are not homogeneous and cannot be made homogeneous by a simple de-trending step. We show that when the trends are polynomial, the maximum likelihood estimator is able to recover the trends together with the other parameters and is strongly consistent. More precisely, the supremum norm of the difference between the true trends and the estimated ones tends to ze…
Hidden Markov chain, or Markov field, models, with observations in a Euclidean space, play a major role across signal and image processing. The present work provides a statistical framework which can be used to extend these models, along with related, popular algorithms (such as the Baum-Welch algorithm), to the case where the observations lie in a Riemannian manifold. It is motivated by the potential use of hidden Markov chains and fields, with observations in Riemannian manifolds, as models for complex signals and images.
We show that the posterior distribution of parameters in a hidden Markov model with parametric emission distributions and discrete and known state space is asymptotically normal. The main novelty of our proof is that it is based on a testing condition and the sequence of test functions is obtained using an optimal transportation inequality.
Motivated by change point problems in time series and the detection of textured objects in images, we consider the problem of detecting a piece of a Gaussian Markov random field hidden in white Gaussian noise. We derive minimax lower bounds and propose near-optimal tests.
Chopin (2007) introduced a sequentially ordered hidden Markov model, for which states are ordered according to their order of appearance, and claimed that such a model is a re-parametrisation of a standard Markov model. This note gives a formal proof that this equivalence holds in Bayesian terms, as both formulations generate equivalent posterior distributions, but does not hold in Frequentist terms, as both formulations generate incompatible likelihood functions. Perhaps surprisingly, this shows that Bayesian re-parametrisation and Frequentist re-parametrisation are not identical concepts.
This paper considers the asymptotic properties of the recursive maximum likelihood estimation in hidden Markov models. The paper is focused on the asymptotic behavior of the log-likelihood function and on the point-convergence and convergence rate of the recursive maximum likelihood estimator. Using the principle of analytical continuation, the analyticity of the asymptotic log-likelihood function is shown for analytically parameterized hidden Markov models. Relying on this fact and some results from differential geometry (Lojasiewicz inequality), the almost sure point-convergence of the recur…
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 derive the observed information matrix of hidden Markov models by the application of the Oakes (1999)'s identity. The method only requires the first derivative of the forward-backward recursions of Baum and Welch (1970), instead of the second derivative of the forward recursion, which is required within the approach of Lystig and Hughes (2002). The method is illustrated by an example based on the analysis of a longitudinal dataset which is well known in sociology.
By making use of martingale representations, we derive the asymptotic normality of particle filters in hidden Markov models and a relatively simple formula for their asymptotic variances. Although repeated resamplings result in complicated dependence among the sample paths, the asymptotic variance formula and martingale representations lead to consistent estimates of the standard errors of the particle filter estimates of the hidden states.
In the 1960s, Shiryaev developed a Bayesian theory of change-point detection in the i.i.d. case, which was generalized in the beginning of the 2000s by Tartakovsky and Veeravalli for general stochastic models assuming a certain stability of the log-likelihood ratio process. Hidden Markov models represent a wide class of stochastic processes that are very useful in a variety of applications. In this paper, we investigate the performance of the Bayesian Shiryaev change-point detection rule for hidden Markov models. We propose a set of regularity conditions under which the Shiryaev procedure is 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 introduces a new parsimonious structure for mixture of autoregressive models. the weighting coefficients are determined through latent random variables, following a hidden Markov model. We propose a dynamic programming algorithm for the application of forecasting. We also derive the limiting behavior of unconditional first moment of the process and an appropriate upper bound for the limiting value of the variance. This can be considered as long run behavior of the process. Finally we show convergence and stability of the second moment. Further, we illustrate the efficacy of the prop…
Let $(Y_k)_{k\in \mathbb{Z}}$ be a stationary sequence on a probability space $(Ω,\mathcal{A},\mathbb{P})$ taking values in a standard Borel space $\mathsf{Y}$. Consider the associated maximum likelihood estimator with respect to a parametrized family of hidden Markov models such that the law of the observations $(Y_k)_{k\in \mathbb{Z}}$ is not assumed to be described by any of the hidden Markov models of this family. In this paper we investigate the consistency of this estimator in such misspecified models under mild assumptions.
The use of non parametric hidden Markov models with finite state space is flourishing in practice while few theoretical guarantees are known in this framework. Here, we study asymptotic guarantees for these models in the Bayesian framework. We obtain posterior concentration rates with respect to the $L_1$-norm on joint marginal densities of consecutive observations in a general theorem. We apply this theorem to two cases and obtain minimax concentration rates. We consider discrete observations with emission distributions distributed from a Dirichlet process and continuous observations with emi…
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…
We consider a unified framework of sequential change-point detection and hypothesis testing modeled by means of hidden Markov chains. One observes a sequence of random variables whose distributions are functionals of a hidden Markov chain. The objective is to detect quickly the event that the hidden Markov chain leaves a certain set of states, and to identify accurately the class of states into which it is absorbed. We propose computationally tractable sequential detection and identification strategies and obtain sufficient conditions for the asymptotic optimality in two Bayesian formulations.…
We address the issue of context tree estimation in variable length hidden Markov models. We propose an estimator of the context tree of the hidden Markov process which needs no prior upper bound on the depth of the context tree. We prove that the estimator is strongly consistent. This uses information-theoretic mixture inequalities in the spirit of Finesso and Lorenzo(Consistent estimation of the order for Markov and hidden Markov chains(1990)) and E.Gassiat and S.Boucheron (Optimal error exponents in hidden Markov model order estimation(2003)). We propose an algorithm to efficiently compute t…
We consider the smoothing probabilities of hidden Markov model (HMM). We show that under fairly general conditions for HMM, the exponential forgetting still holds, and the smoothing probabilities can be well approximated with the ones of double sided HMM. This makes it possible to use ergodic theorems. As an applications we consider the pointwise maximum a posteriori segmentation, and show that the corresponding risks converge.
We consider the problem of sequential detection of a change in the statistical behavior of a hidden Markov model. By adopting a worst-case analysis with respect to the time of change and by taking into account the data that can be accessed by the change-imposing mechanism we offer alternative formulations of the problem. For each formulation we derive the optimum Shewhart test that maximizes the worst-case detection probability while guaranteeing infrequent false alarms.
In this paper, we develop methods of nonlinear filtering and prediction of an unobservable Markov chain with a finite set of states. This Markov chain controls coefficients of AR(p) model. Using observations generated by AR(p) model we have to estimate the state of Markov chain in the case of an unknown probability transition matrix. Comparison of proposed non-parametric algorithms with the optimal methods in the case of the known transition matrix is carried out by simulating.
We will outline novel approaches to derive model invariants for hidden Markov and related models. These approaches are based on a theoretical framework that arises from viewing random processes as elements of the vector space of string functions. Theorems available from that framework then give rise to novel ideas to obtain model invariants for hidden Markov and related models.
We provide a sufficient criterion for the unique parameter identification of combinatorially symmetric Hidden Markov Models based on the structure of their transition matrix. If the observed states of the chain form a zero forcing set of the graph of the Markov model then it is uniquely identifiable and an explicit reconstruction method is given.
We consider the Sequential Probability Ratio Test applied to Hidden Markov Models. Given two Hidden Markov Models and a sequence of observations generated by one of them, the Sequential Probability Ratio Test attempts to decide which model produced the sequence. We show relationships between the execution time of such an algorithm and Lyapunov exponents of random matrix systems. Further, we give complexity results about the execution time taken by the Sequential Probability Ratio Test.
We consider parameter estimation in finite hidden state space Markov models with time-dependent inhomogeneous noise, where the inhomogeneity vanishes sufficiently fast. Based on the concept of asymptotic mean stationary processes we prove that the maximum likelihood and a quasi-maximum likelihood estimator (QMLE) are strongly consistent. The computation of the QMLE ignores the inhomogeneity, hence, is much simpler and robust. The theory is motivated by an example from biophysics and applied to a Poisson- and linear Gaussian model.
The analyticity of the entropy and relative entropy rates of continuous-state hidden Markov models is studied here. Using the analytic continuation principle and the stability properties of the optimal filter, the analyticity of these rates is shown for analytically parameterized models. The obtained results hold under relatively mild conditions and cover several classes of hidden Markov models met in practice. These results are relevant for several (theoretically and practically) important problems arising in statistical inference, system identification and information theory.
RNA viruses provide prominent examples of measurably evolving populations. In HIV infection, the development of drug resistance is of particular interest, because precise predictions of the outcome of this evolutionary process are a prerequisite for the rational design of antiretroviral treatment protocols. We present a mutagenetic tree hidden Markov model for the analysis of longitudinal clonal sequence data. Using HIV mutation data from clinical trials, we estimate the order and rate of occurrence of seven amino acid changes that are associated with resistance to the reverse transcriptase in…
The generic identification problem is to decide whether a stochastic process $(X_t)$ is a hidden Markov process and if yes to infer its parameters for all but a subset of parametrizations that form a lower-dimensional subvariety in parameter space. Partial answers so far available depend on extra assumptions on the processes, which are usually centered around stationarity. Here we present a general solution for binary-valued hidden Markov processes. Our approach is rooted in algebraic statistics hence it is geometric in nature. We find that the algebraic varieties associated with the probabili…
This paper reports on recent results related to audiophonic signals encoding using time-scale and time-frequency transform. More precisely, non-linear, structured approximations for tonal and transient components using local cosine and wavelet bases will be described, yielding expansions of audio signals in the form tonal + transient + residual. We describe a general formulation involving hidden Markov models, together with corresponding rate estimates. Estimators for the balance transient/tonal are also discussed.
We define a Hidden Markov Model (HMM) in which each hidden state has time-dependent $\textit{activity levels}$ that drive transitions and emissions, and show how to estimate its parameters. Our construction is motivated by the problem of inferring human mobility on sub-daily time scales from, for example, mobile phone records.
The entropy of a binary symmetric Hidden Markov Process is calculated as an expansion in the noise parameter epsilon. We map the problem onto a one-dimensional Ising model in a large field of random signs and calculate the expansion coefficients up to second order in epsilon. Using a conjecture we extend the calculation to 11th order and discuss the convergence of the resulting series.
To estimate the emission parameters in hidden Markov models one commonly uses the EM algorithm or its variation. Our primary motivation, however, is the Philips speech recognition system wherein the EM algorithm is replaced by the Viterbi training algorithm. Viterbi training is faster and computationally less involved than EM, but it is also biased and need not even be consistent. We propose an alternative to the Viterbi training -- adjusted Viterbi training -- that has the same order of computational complexity as Viterbi training but gives more accurate estimators. Elsewhere, we studied the …
In this paper we study the problem of learning phylogenies and hidden Markov models. We call a Markov model nonsingular if all transition matrices have determinants bounded away from 0 (and 1). We highlight the role of the nonsingularity condition for the learning problem. Learning hidden Markov models without the nonsingularity condition is at least as hard as learning parity with noise, a well-known learning problem conjectured to be computationally hard. On the other hand, we give a polynomial-time algorithm for learning nonsingular phylogenies and hidden Markov models.
Aston University（阿斯顿大学）；University of Birmingham（伯明翰大学）；Massachusetts Institute of Technology（麻省理工学院）
We propose a robust framework for interpretable, few-shot analysis of non-stationary sequential data based on flexible graphical models to express the structured distribution of sequential events, using prototype radial basis function (RBF) neural network emissions. A motivational link is demonstrated between prototypical neural network architectures for few-shot learning and the proposed RBF network infinite hidden Markov model (RBF-iHMM). We show that RBF networks can be efficiently specified via prototypes allowing us to express complex nonstationary patterns, while hidden Markov models are…
We introduce the minimal maximally predictive models (ε-machines) of processes generated by certain hidden semi-Markov models. Their causal states are either hybrid discrete-continuous or continuous random variables and causal-state transitions are described by partial differential equations. Closed-form expressions are given for statistical complexities, excess entropies, and differential information anatomy rates. We present a complete analysis of the ε-machines of continuous-time renewal processes and, then, extend this to processes generated by unifilar hidden semi-Markov models and semi-M…
