Notions of probabilistic convergence, applied to estimation and asymptotic analysis
Inprobability theory, there exist several different notions ofconvergence of sequences of random variables, includingconvergence in probability,convergence in distribution, andalmost sure convergence. The different notions of convergence capture different properties about the sequence, with some notions of convergence being stronger than others. For example, convergence in distribution tells us about the limitdistribution of a sequence of random variables. This is a weaker notion than convergence in probability, which tells us about the value a random variable will take, rather than just the distribution.
The concept is important in probability theory, and its applications tostatistics andstochastic processes. The same concepts are known in more generalmathematics asstochastic convergence and they formalize the idea that certain properties of a sequence of essentially random or unpredictable events can sometimes be expected to settle down into a behavior that is essentially unchanging when items far enough into the sequence are studied. The different possible notions of convergence relate to how such a behavior can be characterized: two readily understood behaviors are that the sequence eventually takes a constant value, and that values in the sequence continue to change but can be described by an unchanging probability distribution.
"Stochastic convergence" formalizes the idea that a sequence of essentially random or unpredictable events can sometimes be expected to settle into a pattern. The pattern may for instance be
Convergence in the classical sense to a fixed value, perhaps itself coming from a random event
An increasing similarity of outcomes to what a purely deterministic function would produce
An increasing preference towards a certain outcome
An increasing "aversion" against straying far away from a certain outcome
That the probability distribution describing the next outcome may grow increasingly similar to a certain distribution
Some less obvious, more theoretical patterns could be
That the series formed by calculating theexpected value of the outcome's distance from a particular value may converge to 0
That the variance of therandom variable describing the next event grows smaller and smaller.
These other types of patterns that may arise are reflected in the different types of stochastic convergence that have been studied.
While the above discussion has related to the convergence of a single series to a limiting value, the notion of the convergence of two series towards each other is also important, but this is easily handled by studying the sequence defined as either the difference or the ratio of the two series.
For example, if the average ofnindependent random variables, all having the same finitemean andvariance, is given by
then as tends to infinity, convergesin probability (see below) to the commonmean,, of the random variables. This result is known as theweak law of large numbers. Other forms of convergence are important in other useful theorems, including thecentral limit theorem.
Throughout the following, we assume that is a sequence of random variables, and is a random variable, and all of them are defined on the sameprobability space.
Suppose a new dice factory has just been built. The first few dice come out quite biased, due to imperfections in the production process. The outcome from tossing any of them will follow a distribution markedly different from the desireduniform distribution.
As the factory is improved, the dice become less and less loaded, and the outcomes from tossing a newly produced die will follow the uniform distribution more and more closely.
Tossing coins
LetXn be the fraction of heads after tossing up an unbiased coinn times. ThenX1 has theBernoulli distribution with expected valueμ = 0.5 and varianceσ2 = 0.25. The subsequent random variablesX2,X3, ... will all be distributedbinomially.
Asn grows larger, this distribution will gradually start to take shape more and more similar to thebell curve of the normal distribution. If we shift and rescaleXn appropriately, then will beconverging in distribution to the standard normal, the result that follows from the celebratedcentral limit theorem.
Graphic example
Suppose{Xi} is aniid sequence ofuniformU(−1, 1) random variables. Let be their (normalized) sums. Then according to thecentral limit theorem, the distribution ofZn approaches the normalN(0,1/3) distribution. This convergence is shown in the picture: asn grows larger, the shape of the probability density function gets closer and closer to the Gaussian curve.
Loosely, with this mode of convergence, we increasingly expect to see the next outcome in a sequence of random experiments becoming better and better modeled by a givenprobability distribution. More precisely, the distribution of the associated random variable in the sequence becomes arbitrarily close to a specified fixed distribution.
Convergence in distribution is the weakest form of convergence typically discussed, since it is implied by all other types of convergence mentioned in this article. However, convergence in distribution is very frequently used in practice; most often it arises from application of thecentral limit theorem.
The requirement that only the continuity points of should be considered is essential. For example, if are distributeduniformly on intervals, then this sequence converges in distribution to thedegenerate random variable. Indeed,for all when, and for allwhen. However, for this limiting random variable, even though for all. Thus the convergence of cdfs fails at the point where is discontinuous.
Convergence in distribution may be denoted as
1
where is the law (probability distribution) ofX. For example, ifX is standard normal we can write.
Forrandom vectors the convergence in distribution is defined similarly. We say that this sequenceconverges in distribution to a randomk-vectorX if
The definition of convergence in distribution may be extended from random vectors to more generalrandom elements in arbitrarymetric spaces, and even to the “random variables” which are not measurable — a situation which occurs for example in the study ofempirical processes. This is the “weak convergence of laws without laws being defined” — except asymptotically.[1]
In this case the termweak convergence is preferable (seeweak convergence of measures), and we say that a sequence of random elements{Xn} converges weakly toX (denoted asXn ⇒X) if
for all continuous bounded functionsh.[2] Here E* denotes theouter expectation, that is the expectation of a “smallest measurable functiong that dominatesh(Xn)”.
Since, the convergence in distribution means that the probability forXn to be in a given range is approximately equal to the probability that the value ofX is in that range, providedn issufficiently large.
In general, convergence in distribution does not imply that the sequence of correspondingprobability density functions will also converge. As an example one may consider random variables with densitiesfn(x) = (1 + cos(2πnx))1(0,1). These random variables converge in distribution to a uniformU(0, 1), whereas their densities do not converge at all.[3]
Theportmanteau lemma provides several equivalent definitions of convergence in distribution. Although these definitions are less intuitive, they are used to prove a number of statistical theorems. The lemma states that{Xn} converges in distribution toX if and only if any of the following statements are true:[5]
Thecontinuous mapping theorem states that for a continuous functiong, if the sequence{Xn} converges in distribution toX, then{g(Xn)} converges in distribution tog(X).
Note however that convergence in distribution of{Xn} toX and{Yn} toY does in generalnot imply convergence in distribution of{Xn +Yn} toX +Y or of{XnYn} toXY.
Consider the following experiment. First, pick a random person in the street. LetX be their height, which isex ante a random variable. Then ask other people to estimate this height by eye. LetXn be the average of the firstn responses. Then (provided there is nosystematic error) by thelaw of large numbers, the sequenceXn will converge in probability to the random variableX.
Predicting random number generation
Suppose that a random number generator generates a pseudorandom floating point number between 0 and 1. Let random variableX represent the distribution of possible outputs by the algorithm. Because the pseudorandom number is generated deterministically, its next value is not truly random. Suppose that as you observe a sequence of randomly generated numbers, you can deduce a pattern and make increasingly accurate predictions as to what the next randomly generated number will be. LetXn be your guess of the value of the next random number after observing the firstn random numbers. As you learn the pattern and your guesses become more accurate, not only will the distribution ofXn converge to the distribution ofX, but the outcomes ofXn will converge to the outcomes ofX.
The basic idea behind this type of convergence is that the probability of an “unusual” outcome becomes smaller and smaller as the sequence progresses.
The concept of convergence in probability is used very often in statistics. For example, an estimator is calledconsistent if it converges in probability to the quantity being estimated. Convergence in probability is also the type of convergence established by theweak law of large numbers.
A sequence {Xn} of random variablesconverges in probability towards the random variableX if for allε > 0
More explicitly, letPn(ε) be the probability thatXn is outside the ball of radiusε centered at X. ThenXn is said to converge in probability toX if for anyε > 0 and anyδ > 0 there exists a numberN (which may depend onε andδ) such that for alln ≥ N,Pn(ε) < δ (the definition of limit).
Notice that for the condition to be satisfied, it is not possible that for eachn the random variablesX andXn are independent (and thus convergence in probability is a condition on the joint cdf's, as opposed to convergence in distribution, which is a condition on the individual cdf's), unlessX is deterministic like for the weak law of large numbers. At the same time, the case of a deterministicX cannot, whenever the deterministic value is a discontinuity point (not isolated), be handled by convergence in distribution, where discontinuity points have to be explicitly excluded.
Convergence in probability is denoted by adding the letterp over an arrow indicating convergence, or using the "plim" probability limit operator:
2
For random elements {Xn} on aseparable metric space(S,d), convergence in probability is defined similarly by[6]
Convergence in probability defines atopology on the space of random variables over a fixed probability space. This topology ismetrizable by theKy Fan metric:[7] or alternately by this metric
Not every sequence of random variables which converges to another random variable in distribution also converges in probability to that random variable. As an example, consider a sequence of standard normal random variables and a second sequence. Notice that the distribution of is equal to the distribution of for all, but:
which does not converge to. So we do not have convergence in probability.
Consider an animal of some short-lived species. We record the amount of food that this animal consumes per day. This sequence of numbers will be unpredictable, but we may bequite certain that one day the number will become zero, and will stay zero forever after.
Example 2
Consider a man who tosses seven coins every morning. Each afternoon, he donates one pound to a charity for each head that appeared. The first time the result is all tails, however, he will stop permanently.
LetX1,X2, … be the daily amounts the charity received from him.
We may bealmost sure that one day this amount will be zero, and stay zero forever after that.
However, when we considerany finite number of days, there is a nonzero probability the terminating condition will not occur.
To say that the sequenceXn convergesalmost surely oralmost everywhere orwith probability 1 orstrongly towardsX means that
This means that the values ofXn approach the value ofX, in the sense that events for whichXn does not converge toX have probability 0 (seeAlmost surely). Using the probability space and the concept of the random variable as a function from Ω toR, this is equivalent to the statement
Almost sure convergence implies convergence in probability (byFatou's lemma), and hence implies convergence in distribution. It is the notion of convergence used in the stronglaw of large numbers.
The concept of almost sure convergence does not come from atopology on the space of random variables. This means there is no topology on the space of random variables such that the almost surely convergent sequences are exactly the converging sequences with respect to that topology. In particular, there is no metric of almost sure convergence.
Consider a sequence of independent random variables such that and. For we have which converges to hence in probability.
Since and the events are independent,second Borel Cantelli Lemma ensures that hence the sequence does not converge to almost everywhere (in fact the set on which this sequence does not converge to has probability).
This is the notion ofpointwise convergence of a sequence of functions extended to a sequence ofrandom variables. (Note that random variables themselves are functions).
Sure convergence of a random variable implies all the other kinds of convergence stated above, but there is no payoff inprobability theory by using sure convergence compared to using almost sure convergence. The difference between the two only exists on sets with probability zero. This is why the concept of sure convergence of random variables is very rarely used.
Given a real numberr ≥ 1, we say that the sequenceXn convergesin ther-th mean (orin theLr-norm) towards the random variableX, if ther-thabsolute moments(|Xn|r) and(|X|r) ofXn andX exist, and
where the operator E denotes theexpected value. Convergence inr-th mean tells us that the expectation of ther-th power of the difference between and converges to zero.
This type of convergence is often denoted by adding the letterLr over an arrow indicating convergence:
4
The most important cases of convergence inr-th mean are:
WhenXn converges inr-th mean toX forr = 1, we say thatXn convergesin mean toX.
WhenXn converges inr-th mean toX forr = 2, we say thatXn convergesin mean square (orin quadratic mean) toX.
Convergence in ther-th mean, forr ≥ 1, implies convergence in probability (byMarkov's inequality). Furthermore, ifr >s ≥ 1, convergence inr-th mean implies convergence ins-th mean. Hence, convergence in mean square implies convergence in mean.
Additionally,
The converse is not necessarily true, however it is true if (by a more general version ofScheffé's lemma).
None of the above statements are true for convergence in distribution.
The chain of implications between the various notions of convergence are noted in their respective sections. They are, using the arrow notation:
These properties, together with a number of other special cases, are summarized in the following list:
Almost sure convergence implies convergence in probability:[8][proof]
Convergence in probability implies there exists a sub-sequence which almost surely converges:[9]
Convergence in probability implies convergence in distribution:[8][proof]
Convergence inr-th order mean implies convergence in probability:
Convergence inr-th order mean implies convergence in lower order mean, assuming that both orders are greater than or equal to one:
providedr ≥s ≥ 1.
IfXn converges in distribution to a constantc, thenXn converges in probability toc:[8][proof]
providedc is a constant.
IfXn converges in distribution toX and the difference betweenXn andYn converges in probability to zero, thenYn also converges in distribution toX:[8][proof]
IfXn converges in distribution toX andYn converges in distribution to a constantc, then the joint vector(Xn, Yn) converges in distribution to:[8][proof]
providedc is a constant.
Note that the condition thatYn converges to a constant is important, if it were to converge to a random variableY then we wouldn't be able to conclude that(Xn, Yn) converges to.
IfXn converges in probability toX andYn converges in probability toY, then the joint vector(Xn, Yn) converges in probability to(X, Y):[8][proof]
IfXn converges in probability toX, and ifP(|Xn| ≤b) = 1 for alln and someb, thenXn converges inrth mean toX for allr ≥ 1. In other words, ifXn converges in probability toX and all random variablesXn are almost surely bounded above and below, thenXn converges toX also in anyrth mean.[10]
Almost sure representation. Usually, convergence in distribution does not imply convergence almost surely. However, for a given sequence {Xn} which converges in distribution toX0 it is always possible to find a new probability space (Ω,F, P) and random variables {Yn,n = 0, 1, ...} defined on it such thatYn is equal in distribution toXn for eachn ≥ 0, andYn converges toY0 almost surely.[11][12]
If for allε > 0,
then we say thatXnconverges almost completely, oralmost in probability towardsX. WhenXn converges almost completely towardsX then it also converges almost surely toX. In other words, ifXn converges in probability toX sufficiently quickly (i.e. the above sequence of tail probabilities is summable for allε > 0), thenXn also converges almost surely toX. This is a direct implication from theBorel–Cantelli lemma.
IfSn is a sum ofn real independent random variables:
thenSn converges almost surely if and only ifSn converges in probability. The proof can be found in Page 126 (Theorem 5.3.4) of the book byKai Lai Chung.[13]
However, for a sequence of mutually independent random variables, convergence in probability does not imply almost sure convergence.[14][circular reference]
Continuous stochastic process: the question of continuity of astochastic process is essentially a question of convergence, and many of the same concepts and relationships used above apply to the continuity question.
Bickel, Peter J.; Klaassen, Chris A.J.; Ritov, Ya’acov; Wellner, Jon A. (1998).Efficient and adaptive estimation for semiparametric models. New York: Springer-Verlag.ISBN978-0-387-98473-5.
Billingsley, Patrick (1986).Probability and Measure. Wiley Series in Probability and Mathematical Statistics (2nd ed.). Wiley.