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Convergence of random variables

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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.

Background

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"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 variablesYi, i=1,,n{\displaystyle Y_{i},\ i=1,\dots ,n}, all having the same finitemean andvariance, is given by

Xn=1ni=1nYi,{\displaystyle X_{n}={\frac {1}{n}}\sum _{i=1}^{n}Y_{i}\,,}

then asn{\displaystyle n} tends to infinity,Xn{\displaystyle X_{n}} convergesin probability (see below) to the commonmean,μ{\displaystyle \mu }, of the random variablesYi{\displaystyle Y_{i}}. 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(Xn){\displaystyle (X_{n})} is a sequence of random variables, andX{\displaystyle X} is a random variable, and all of them are defined on the sameprobability space(Ω,F,P){\displaystyle (\Omega ,{\mathcal {F}},\mathbb {P} )}.

Convergence in distribution

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Examples of convergence in distribution
Dice factory
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, thenZn=nσ(Xnμ){\displaystyle \scriptstyle Z_{n}={\frac {\sqrt {n}}{\sigma }}(X_{n}-\mu )} 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. LetZn=1ni=1nXi{\displaystyle \scriptstyle Z_{n}={\scriptscriptstyle {\frac {1}{\sqrt {n}}}}\sum _{i=1}^{n}X_{i}} 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.

Definition

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A sequenceX1,X2,{\displaystyle X_{1},X_{2},\ldots } of real-valuedrandom variables, withcumulative distribution functionsF1,F2,{\displaystyle F_{1},F_{2},\ldots }, is said toconverge in distribution, orconverge weakly, orconverge in law to a random variableX withcumulative distribution functionF if

limnFn(x)=F(x),{\displaystyle \lim _{n\to \infty }F_{n}(x)=F(x),}

for every numberxR{\displaystyle x\in \mathbb {R} } at whichF{\displaystyle F} iscontinuous.

The requirement that only the continuity points ofF{\displaystyle F} should be considered is essential. For example, ifXn{\displaystyle X_{n}} are distributeduniformly on intervals(0,1n){\displaystyle \left(0,{\frac {1}{n}}\right)}, then this sequence converges in distribution to thedegenerate random variableX=0{\displaystyle X=0}. Indeed,Fn(x)=0{\displaystyle F_{n}(x)=0}for alln{\displaystyle n} whenx0{\displaystyle x\leq 0}, andFn(x)=1{\displaystyle F_{n}(x)=1} for allx1n{\displaystyle x\geq {\frac {1}{n}}}whenn>0{\displaystyle n>0}. However, for this limiting random variableF(0)=1{\displaystyle F(0)=1}, even thoughFn(0)=0{\displaystyle F_{n}(0)=0} for alln{\displaystyle n}. Thus the convergence of cdfs fails at the pointx=0{\displaystyle x=0} whereF{\displaystyle F} is discontinuous.

Convergence in distribution may be denoted as

Xn d X,  Xn D X,  Xn L X,  Xn d LX,XnX,  XnX,  L(Xn)L(X),{\displaystyle {\begin{aligned}{}&X_{n}\ \xrightarrow {d} \ X,\ \ X_{n}\ \xrightarrow {\mathcal {D}} \ X,\ \ X_{n}\ \xrightarrow {\mathcal {L}} \ X,\ \ X_{n}\ \xrightarrow {d} \ {\mathcal {L}}_{X},\\&X_{n}\rightsquigarrow X,\ \ X_{n}\Rightarrow X,\ \ {\mathcal {L}}(X_{n})\to {\mathcal {L}}(X),\\\end{aligned}}}1

whereLX{\displaystyle \scriptstyle {\mathcal {L}}_{X}} is the law (probability distribution) ofX. For example, ifX is standard normal we can writeXndN(0,1){\displaystyle X_{n}\,{\xrightarrow {d}}\,{\mathcal {N}}(0,\,1)}.

Forrandom vectors{X1,X2,}Rk{\displaystyle \left\{X_{1},X_{2},\dots \right\}\subset \mathbb {R} ^{k}} the convergence in distribution is defined similarly. We say that this sequenceconverges in distribution to a randomk-vectorX if

limnP(XnA)=P(XA){\displaystyle \lim _{n\to \infty }\mathbb {P} (X_{n}\in A)=\mathbb {P} (X\in A)}

for everyARk{\displaystyle A\subset \mathbb {R} ^{k}} which is acontinuity set ofX.

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 asXnX) if

Eh(Xn)Eh(X){\displaystyle \mathbb {E} ^{*}h(X_{n})\to \mathbb {E} \,h(X)}

for all continuous bounded functionsh.[2] Here E* denotes theouter expectation, that is the expectation of a “smallest measurable functiong that dominatesh(Xn)”.

Properties

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Convergence in probability

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Examples of convergence in probability
Height of a person
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.

Definition

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A sequence {Xn} of random variablesconverges in probability towards the random variableX if for allε > 0

limnP(|XnX|>ε)=0.{\displaystyle \lim _{n\to \infty }\mathbb {P} {\big (}|X_{n}-X|>\varepsilon {\big )}=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:

Xn p X,  Xn P X,  plimnXn=X.{\displaystyle X_{n}\ \xrightarrow {p} \ X,\ \ X_{n}\ \xrightarrow {P} \ X,\ \ {\underset {n\to \infty }{\operatorname {plim} }}\,X_{n}=X.}2

For random elements {Xn} on aseparable metric space(S,d), convergence in probability is defined similarly by[6]

ε>0,P(d(Xn,X)ε)0.{\displaystyle \forall \varepsilon >0,\mathbb {P} {\big (}d(X_{n},X)\geq \varepsilon {\big )}\to 0.}

Properties

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Counterexamples

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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 variablesXn{\displaystyle X_{n}} and a second sequenceYn=(1)nXn{\displaystyle Y_{n}=(-1)^{n}X_{n}}. Notice that the distribution ofYn{\displaystyle Y_{n}} is equal to the distribution ofXn{\displaystyle X_{n}} for alln{\displaystyle n}, but:P(|XnYn|ϵ)=P(|Xn||(1(1)n)|ϵ){\displaystyle P(|X_{n}-Y_{n}|\geq \epsilon )=P(|X_{n}|\cdot |(1-(-1)^{n})|\geq \epsilon )}

which does not converge to0{\displaystyle 0}. So we do not have convergence in probability.

Almost sure convergence

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Examples of almost sure convergence
Example 1
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.

This is the type of stochastic convergence that is most similar topointwise convergence known from elementaryreal analysis.

Definition

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To say that the sequenceXn convergesalmost surely oralmost everywhere orwith probability 1 orstrongly towardsX means thatP(limnXn=X)=1.{\displaystyle \mathbb {P} \!\left(\lim _{n\to \infty }\!X_{n}=X\right)=1.}

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(Ω,F,P){\displaystyle (\Omega ,{\mathcal {F}},\mathbb {P} )} and the concept of the random variable as a function from Ω toR, this is equivalent to the statementP(ωΩ:limnXn(ω)=X(ω))=1.{\displaystyle \mathbb {P} {\Bigl (}\omega \in \Omega :\lim _{n\to \infty }X_{n}(\omega )=X(\omega ){\Bigr )}=1.}

Using the notion of thelimit superior of a sequence of sets, almost sure convergence can also be defined as follows:P(lim supn{ωΩ:|Xn(ω)X(ω)|>ε})=0for allε>0.{\displaystyle \mathbb {P} {\Bigl (}\limsup _{n\to \infty }{\bigl \{}\omega \in \Omega :|X_{n}(\omega )-X(\omega )|>\varepsilon {\bigr \}}{\Bigr )}=0\quad {\text{for all}}\quad \varepsilon >0.}

Almost sure convergence is often denoted by adding the lettersa.s. over an arrow indicating convergence:

Xna.s.X.{\displaystyle {\overset {}{X_{n}\,{\xrightarrow {\mathrm {a.s.} }}\,X.}}}3

For genericrandom elements {Xn} on ametric space(S,d){\displaystyle (S,d)}, convergence almost surely is defined similarly:P(ωΩ:d(Xn(ω),X(ω))n0)=1{\displaystyle \mathbb {P} {\Bigl (}\omega \in \Omega \colon \,d{\big (}X_{n}(\omega ),X(\omega ){\big )}\,{\underset {n\to \infty }{\longrightarrow }}\,0{\Bigr )}=1}

Properties

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  • 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.

Counterexamples

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Consider a sequence{Xn}{\displaystyle \{X_{n}\}} of independent random variables such thatP(Xn=1)=1n{\displaystyle P(X_{n}=1)={\frac {1}{n}}} andP(Xn=0)=11n{\displaystyle P(X_{n}=0)=1-{\frac {1}{n}}}. For0<ε<1/2{\displaystyle 0<\varepsilon <1/2} we haveP(|Xn|ε)=1n{\displaystyle P(|X_{n}|\geq \varepsilon )={\frac {1}{n}}} which converges to0{\displaystyle 0} henceXn0{\displaystyle X_{n}\to 0} in probability.

Sincen1P(Xn=1){\displaystyle \sum _{n\geq 1}P(X_{n}=1)\to \infty } and the events{Xn=1}{\displaystyle \{X_{n}=1\}} are independent,second Borel Cantelli Lemma ensures thatP(lim supn{Xn=1})=1{\displaystyle P(\limsup _{n}\{X_{n}=1\})=1} hence the sequence{Xn}{\displaystyle \{X_{n}\}} does not converge to0{\displaystyle 0} almost everywhere (in fact the set on which this sequence does not converge to0{\displaystyle 0} has probability1{\displaystyle 1}).

Sure convergence or pointwise convergence

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To say that the sequence ofrandom variables (Xn) defined over the sameprobability space (i.e., arandom process) convergessurely oreverywhere orpointwise towardsX means

ωΩ: limnXn(ω)=X(ω),{\displaystyle \forall \omega \in \Omega \colon \ \lim _{n\to \infty }X_{n}(\omega )=X(\omega ),}

where Ω is thesample space of the underlyingprobability space over which the random variables are defined.

This is the notion ofpointwise convergence of a sequence of functions extended to a sequence ofrandom variables. (Note that random variables themselves are functions).

{ωΩ:limnXn(ω)=X(ω)}=Ω.{\displaystyle \left\{\omega \in \Omega :\lim _{n\to \infty }X_{n}(\omega )=X(\omega )\right\}=\Omega .}

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.

Convergence in mean

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Given a real numberr ≥ 1, we say that the sequenceXn convergesin ther-th mean (orin theLr-norm) towards the random variableX, if ther-thabsolute momentsE{\displaystyle \mathbb {E} }(|Xn|r) andE{\displaystyle \mathbb {E} }(|X|r) ofXn andX exist, and

limnE(|XnX|r)=0,{\displaystyle \lim _{n\to \infty }\mathbb {E} \left(|X_{n}-X|^{r}\right)=0,}

where the operator E denotes theexpected value. Convergence inr-th mean tells us that the expectation of ther-th power of the difference betweenXn{\displaystyle X_{n}} andX{\displaystyle X} converges to zero.

This type of convergence is often denoted by adding the letterLr over an arrow indicating convergence:

XnLrX.{\displaystyle {\overset {}{X_{n}\,{\xrightarrow {L^{r}}}\,X.}}}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,

XnLrXlimnE[|Xn|r]=E[|X|r].{\displaystyle {\overset {}{X_{n}\xrightarrow {L^{r}} X}}\quad \Rightarrow \quad \lim _{n\to \infty }\mathbb {E} [|X_{n}|^{r}]=\mathbb {E} [|X|^{r}].}

The converse is not necessarily true, however it is true ifXnpX{\displaystyle {\overset {}{X_{n}\,\xrightarrow {p} \,X}}} (by a more general version ofScheffé's lemma).

Properties

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Provided the probability space iscomplete:

The chain of implications between the various notions of convergence are noted in their respective sections. They are, using the arrow notation:

Lss>r1Lra.s.pd{\displaystyle {\begin{matrix}{\xrightarrow {\overset {}{L^{s}}}}&{\underset {s>r\geq 1}{\Rightarrow }}&{\xrightarrow {\overset {}{L^{r}}}}&&\\&&\Downarrow &&\\{\xrightarrow {\text{a.s.}}}&\Rightarrow &{\xrightarrow {p}}&\Rightarrow &{\xrightarrow {d}}\end{matrix}}}

These properties, together with a number of other special cases, are summarized in the following list:

Xna.s.X|Xn|<YE[Y]<}XnL1X{\displaystyle \left.{\begin{matrix}X_{n}\xrightarrow {\overset {}{\text{a.s.}}} X\\|X_{n}|<Y\\\mathbb {E} [Y]<\infty \end{matrix}}\right\}\quad \Rightarrow \quad X_{n}\xrightarrow {L^{1}} X}5

See also

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The WikibookEconometric Theory has a page on the topic of:Convergence of random variables

Notes

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  1. ^Bickel et al. 1998, A.8, page 475
  2. ^van der Vaart & Wellner 1996, p. 4
  3. ^Romano & Siegel 1985, Example 5.26
  4. ^Durrett, Rick (2010).Probability: Theory and Examples. p. 84.
  5. ^van der Vaart 1998, Lemma 2.2
  6. ^Dudley 2002, Chapter 9.2, page 287
  7. ^Dudley 2002, p. 289
  8. ^abcdefvan der Vaart 1998, Theorem 2.7
  9. ^Gut, Allan (2005).Probability: A graduate course. Theorem 3.4: Springer.ISBN 978-0-387-22833-4.{{cite book}}: CS1 maint: location (link)
  10. ^Grimmett & Stirzaker 2020, p. 354
  11. ^van der Vaart 1998, Th.2.19
  12. ^Fristedt & Gray 1997, Theorem 14.5
  13. ^Chung, Kai-lai (2001).A Course in Probability Theory. p. 126.
  14. ^"Proofs of convergence of random variables".Wikipedia. Retrieved2024-09-23.
  15. ^"real analysis - Generalizing Scheffe's Lemma using only Convergence in Probability".Mathematics Stack Exchange. Retrieved2022-03-12.

References

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This article incorporates material from theCitizendium article "Stochastic convergence", which is licensed under theCreative Commons Attribution-ShareAlike 3.0 Unported License but not under theGFDL.

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