A NNALES DE L ’I. H. P., SECTION B
S. T. R ACHEV J. E. Y UKICH
Smoothing metrics for measures on groups
Annales de l’I. H. P., section B, tome 25, n
o4 (1989), p. 429-441
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http://www.numdam.org/
Smoothing metrics for
measures ongroups
S. T. RACHEV
University of California at Santa Barbara,
Santa Barbara, CA 93106
J. E. YUKICH
(*)
Lehigh University, Bethlehem, PA 18015
Vol. 25, n° 4, 1989, p. 429-441. Probabilités et Statistiques
ABSTRACT. - We
investigate
andstudy smoothing metrics dg
on thespace
(G)
of boundedpositive
measures on acomplete, separable locally compact
metrizable group G. Via the use of a tauberian theoremwe characterize
smoothing
metricsmetrizing
thetopology
of weak conver-gence in
(G). Properties
ofP)
areinvestigated,
whereP,~, n >_ 1,
denote theempirical
measures forP;
thelimiting
distribution of(P~, P)
is determined in certain instances.Key words : Weak convergence, probability metrics, tauberian theorems, convolutions.
RESUME. - Nous étudions les
métriques régularisantes dg
surl’espace (G)
des mesurespositives
bornées sur un groupe localementcompact,
separable
métrisable G. En utilisant un théorèmetaubérien
nous caractér-isons les
métriques régularisantes qui
définissent latopologie
de la conver-gence faible sur
(G).
SiPn,
n > 1désignent
les mesuresempiriques
pour une mesure P nous étudions les
propriétés
ded9 (Pn, P);
la loi limite deP)
est determinee dans certainsexemples.
Classification A.M.S. : Primary: 60 B 15, 60 B 10, 40 E 05; Secondary: 47 D 05.
(*) Research supported in part by a grant from the Reidler Foundation.
Annales de l’Institut Henri Poincaré - Probabilités et Statistiques - 0246-0203
1. INTRODUCTION AND NOTATION
The
study
of the metrization of the space ofprobability
measures over agiven
measure space has received wide attention andby
now there is awide
variety
of metrics available forstudy
and use. SeeDudley’s
mono-graph [Du2]
as well as Zolotarev’s survey article[Zo].
Some of the moreinteresting
metrics arequite
difficult to calculate andestimate, thereby limiting
their use. On the otherhand,
metrics ofsimpler
structuregenerally
seem to have limited theoretical and
practical importance.
In this articlewe
develop
thestudy
ofsmoothing metrics,
denotedby dg (also
calledconvolution metrics
[Yul]). Despite
their weak structure,smoothing
met-rics possess some
noteworthy properties.
It is shown thatthey
are naturalchoices for the metrization of weak convergence of
probability
measureson groups and that
they
are ofpractical
and theoretical interest in thestudy
ofempirical
measures.First,
we extend the results of[Yul],
where it is shown thatsmoothing
metrics
d9
metrize weak star convergence ofprobability
measures. Theextended results are
conveniently expressed
in thelanguage
of tauberiantheory
and it seems that thisaspect
is ofindependent interest, especially
from the functional
analytic point
of view.Using
the fact that thecorrespondence
betweenpositive
measures andconvolution
operators
is bicontinuous[Si],
it isproved
thatsmoothing
metrics metrize the
topology
of weak star convergence of boundedpositive
measures on
locally compact
abelian metrizable groups. Infact,
the class ofsmoothing
metricspossessing
thisproperty
is characterized via a tauberian condition. Thisrepresents
an extension of earlier work on thesubject.
Seesection two.
Properties
ofP),
where n> 1,
denote theempirical
measuresfor
P,
are considered. The weak structureof dg
isexploited
to deduceseveral
interesting
andpotentially
usefulprobabilistic
estimates ford9 (Pn, P).
It is shown that if P is the uniform law on the circle then thelimiting
distribution of(P,~, P)
can beexplicitly
determined. Actu-ally,
in certaininstances dg (Pn, P)
may becomputed exactly, making
itsuse in statistical
problems
attractive. See section three.Notation
Throughout
G denotes aseparable locally compact
abelian(LCA)
metrizable group.
Every
such group is second countable(i.
e., has acountable
basis), complete
and has the Lindelöfproperty.
Annales de l’Institut Henri Poincaré - Probabilités et Statistiaues
Let r denote the dual group of
G; by
thePontryagin duality
theoremr is also second countable
[HR],
p. 381. Let~l (G)
denote the space ofall finite
signed
Baire measures onG, ~ + (G)
the subset ofnon-negative
measures and
~ i (G)
the subset ofprobability
measures. Let m denote Haar measure on G.Let
C (G)
be the space of bounded continuous functions on G with values in [R andCo (G)
thesubspace
of functionsvanishing
atinfinity;
equip
both spaces with their canonical sup norms. Forall p >_
1 letbe the space of real valued functions
f
on G suchthat
isintegrable
with
respect
to m.A sequence + in ~l
(G)
is said to converge weak star to ~, E ~~(G)
iff
, w
in this case write - f.l. The
corresponding topology
on ~l(G)
is calledthe weak star
topology (weak topology by probabilists).
We
point
out thatsmoothing
metrics have beenpreviously
discussedby
Kerstan and Matthes
[KM],
Szasz[Sz]
and the authors([RY], [Yul], [RI]).
Actually, Kolmogorov
considered21
versions ofsmoothing
metrics asearly
as 1953[Ko].
As in[Ko],
let g~ denote thedensity
for the normal distribution with mean 0 and variance~2.
Forprobability
measures Pand
Q
on [R defineKolmogorov
observed thatP n .: Q
iff for all 03C3 > 0Q) ~
0 asn -+ 00
[Ko]. Although A
is not used in thesequel,
it may be noted that it bears close resemblance to oursmoothing metrics;
see(2.1).
2. SMOOTHING METRICS VIA A TAUBERIAN THEOREM
For each let
where g
denotes theFourier transform of g. A famous theorem of Wiener states that the translates of
span 21 (G)
if andonly
ifZ (g) = Q,~;
see e. g.[Rul],
Theorem 7.2.5(d). Taking
this tauberian theorem as ourstarting point,
we first note that asimilar,
easier result holds in the spaceCo (G).
See Theorem 2.5 below.
Using
this tauberian theorem we deduce theorems for weak convergence of measures in~l + (G).
A salient feature of the
theory
involves the use of metrickernels,
definedas those such that
Z° (g) = QS,
i. e.,Z (g)
hasempty
interior. The motivation andjustification
for the term metrickernel, apparently
used here for the firsttime,
will become clear in thesequel.
For the moment, note that metric kernels
always
exist for second countable LCA groups:LEMMA 2.1. - There exist metric kernels on G.
Proof. -
This appears in[Yul]. By
the assumed secondcountability,
itis
actually possible
to choose g so that Z(g)
=0.
Q.E.D.
Each metric kernel g induces a
smoothing
metricdg
on M(G)
definedby [Yul] ]
Using
the conditionZ° (g)
=0,
it iseasily
seenthat dg
defines a norm onJt (G)
and is thus a metric on Notice thatg * {~. - v)
may beregarded
as the averages of and in thissense d9
is a natural measureof distance.
Alternatively, dg
may be viewed as the difference of convolution oper-ators. More
precisely, given (G),
define the associated convolutionoperator T~ : Co (G) - Co (G) by
T~
is a contractionoperator
anddg (}~, v)
isjust
the action ofT~ - Ty
ong, evaluated in the
strong operator topology
onCo (G).
It is known
[Si]
thatsequential
weak star convergenceof n to II
can be viewed as the convergence ofT n
toT~
in the strongoperator topology
on
Co (G);
when G is the real line thisequivalence
is a classic result ofFeller
[Fe],
p. 257.Among
otherthings,
thefollowing
theorem shows that it isenough
to restrict attention to thestrong
convergence ofT n (g)
toT~ (g)
for any metric kernel g.The
following
theorem also shows that thesmoothing metric dg
metrizesthe
topology
of weak star convergence in~/l + (G);
this ispossible
since Gis Lindelof and hence ~~ +
(G)
is metrizable(Varadarajan [Va], IV,
p.49,
Teorema
13,
p.62; Dudley [Dul], §4).
For the sake ofsimplicity,
attentionis restricted to
sequential
convergence;nonetheless,
the results remain true in thesetting
ofgeneralized
sequences, or nets.Annales de l’Institut Henri Poincaré - Probabilités et Statistiaues
THEOREM 2.2. - Let g be a metric kernel on
G,
n E I~+,
a sequence in(G),
v in~+ (G)
and ~,n(G) -
v(G). The following
areequivalent:
J
sequence
Tn,
nE ~I +,
converges in thestrong
operatortopology
onCo (G)
toan operator
To
such that( ~
The next theorem characterizes the
dg-metrizability
of weak star conver-gence in
(G)
in terms of the metrickernels, thereby justifying
thedefinition and use of the term. This result
represents
a substantialgeneraliz-
ation of Theorem 2.2 of
[Yul].
THEOREM 2.3. - Let g E
Co (G)
(~~1 (G).
Thefollowing
areequivalent
statements
for
thepseudo-metric d9:
(1) d9
metrizes thetopology of
weak star convergence in(G);
(2)
g is a metrickernel,
and(3) dg (~,, v) ~ 0 if ~, ~ v.
The above theorems fail to hold if
~Z + (G)
isreplaced by
onthe other
hand,
condition(1)
of Theorem 2.2implies
any of the others in this moregeneral setting (cf.
Theorem 7 of[Dul]).
That the converse isfalse is an immediate consequence of Theorem 11 of
[Dul].
The
proofs
of the above theorems center around the use of anapparently
new
[Ru2]
tauberiantheorem,
one which shows that metric kernels areprecisely
those functionsspanning Co (G) (see
Theorem 2.5below).
In thisway we obtain the
equivalence
of(2)
and(3)
of Theorem 2.2 and in thissense
d9
is a natural choice for a metric on(G).
Finally,
beforeproving
Theorems 2.2 and2.3,
let us mention an easy butinteresting
consequence of Theorem 2.2: theequivalence
of(2)
and(4)
shows that a convolution-semigroup Qt, t
>0,
onCo (G)
is continuous(i.
e.,Qt
I as t -0 +
in thestrong operator topology
onCo (G),
where Iis the
identity operator; c. f : Berg
and Forst[BF],
p.48)
if andonly
ifwhere g
is any metric kernel.Proofs of
Theorem 2.2 and 2.3. As for Theorem2.2,
one couldhope
to prove the
implication (2)
=>(1) by showing
that(2) implies
thepointwise
convergence of Fourier
transforms (t)
- v(t);
thisargument
works wellon
(~k [Yul]
where it ispossible
to show that the~,n, n >__ 1,
areuniformly
tight. Instead,
weadopt
a differentapproach,
one which shows thatmetric kernels span
Co (G).
Threeauxiliary
results areneeded;
the first istechnical.
LEMMA 2.4
([Rul],
Theorem1.6.4). - If E is
a non-empty open set inr,
there existsf
EL1 (G)
such thatf =
0 outside E.The next theorem does not seem to appear in the literature and may be
thought
of as acompanion
to Wiener’s famous tauberiantheorem,
described earlier.
THEOREM 2.5. -
If
g ECo (G) (~ ~ 1 (G),
then thetranslates of
g spanCo (G) if
andonly if Z° (g)
=0.
Proof - First,
supposeZ° (g) = ~.
Let cp ECo (G). By
the well-knownisometric
isomorphism
betweenC (G)
and ~l(G),
there exists v(G)
such that
Define (dy) by
If(dy) = 0
for every translate gx of g then(g
*~,) (x)
=0,
where we note that since g E g * p is well defined.The
uniqueness
theorem forFourier-Stieltjes
transformsimplies g ~, =
o.Since ~
0except possibly
on a set withempty interior,
it followsby unicity
andcontinuity
ofFourier-Stieltjes
transforms that cp = o.Thus, by
the Hahn-Banach theorem the translates of g spanCo (G).
Conversely,
suppose Z(g)
contains an open set E. Thenby
Lemma2.4,
there
exists f~L1 (G)
suchthat =0
outside E.Now and since g and
f
are both in~1 (G)
thisimplies
thatfor all
xEG, showing
thatf
isorthogonal
to the span of thetranslates of g.
Q.E.D.
Using
Theorem 2.5 and asimple approximation argument,
it is easy to deduce the next result:LEMMA 2.6. - Let g be a
fixed
metric kernel andf E Co (G).
For allE > 0 and all , 03BD~M
(G)
withfinite
total variationnorm ~ -
vI f
thereexists a
finite
constant A : = A(£,
~ - vII)
such thatProof of
Theorem 2.2. Theequivalence
of(2)
and(3)
follows fromLemma 2.6. The
equivalence
of(1), (3)
and(4)
follows from ageneraliz-
ation of
Proposition
4.2 of Siebert[Si]
to A+(G).
Anrtales de l’Institut Henri Poincaré - Probabilités et Statistiques
Proof of
Theorem 2.3. Weonly
need to demonstrate(3)
~(2).
If(2)
is not
valid,
i. e.,Z° (~) 7~ 0
then there is a p ECo (G)
such that cp(gx)
= 0for all x. The
signed
measure y e ~(G)
associated with cp may be written where~. + E ~ + (G)
and E ~t(G).
Nowd9 +, ~, - )
=0,
thus
~+ = p.-, (p=0
and the conclusion follows from the Hahn-Banach theorem and Theorem 2.5.Q.E.D.
Theorems 2.2 and 2.3 do not extend to non-metrizable G.
Indeed,
whenG is non-metrizable there are no metric
kernels,
thatis,
there is no gsimultaneously satisfying g E ~1 (G),
g ECo (G)
andZ° (g)
=Q~.
If therewere such a g, then since the
proof
of theequivalence
of(2)
and(3)
ofTheorem 2.2 doesn’t
directly
use themetrizability
ofG, ~ + (G)
wouldbe metrizable.
However,
weak star convergence in(G)
is not metriza-ble,
since the set of unit masses ishomeomorphic
to G(Varadarajan
Teorema
13).
We have thusproved
thefollowing result,
which adds to Wiener’s tauberian theorem:COROLLARY 2.5. -
If
G is a non-metrizable LCA group then ~ thereare no metric
kernels,
i. e., there is nofunction
g E~ (G) (1 Co (G)
withZ° {g) = QS. Thus, if the
translatesof
gspan 21 (G)
then(G).
As a final
remark,
it is of interest to note that even for non-metrickernels g, dg occupies
a role in thetheory
ofprobability
metrics. Classicalmetrics may be cast into
the dg form, g
a kernel which is notnecessarily
in
~ 1 nCo.
Forexample,
for all J.l,([a, b]),
the uniform metricI
between distribution functionsF~
andF~
may be repre-sented as
(b - a) du,
where u denotes the uniformdensity
on[a, b].
3. PROPERTIES OF
d9;
EMPIRICAL MEASURESIt is evident
that dg
has arelatively
weak structure and one wouldexpect
its uniform structure to bestrictly
weakerthan,
forexample,
thatof the Prokhorov or dual-bounded
Lipschitz metric,
denotedby
pand P respectively. (See Dudley’s monograph [Du2]
for the definitions of p andP
and a detailed discussion ofprobability metrics.) Indeed, simple examples
show
that dg
and(3,
do not, ingeneral,
induce the sameuniformity.
Clearly, if g
is aLipschitz probability density
on R then for allP, (R), d9 (P, Q) (P, Q),
where C is a constantdepending only
on g, but an
inequality
in the other direction will not hold ingeneral.
Forexample, let g
havesupport
on[0, 1]
and for 1 letPn
and-Qn
beprobability
measures on (F~ definedby
Then
Qn) = Q (n - ~ ) 1/2, showing
that the uniform structureof 03B2
on R isstrictly stronger
than thatD’Aristotile,
Diaconisand Freedman
[DDF] attempt
toclassify
the uniformitiescompatible
withthe weak
toplogy
on the set ofprobability
measures on aseparable
metricspace,
starting
with theuniformity
inducedby
p. As we have shown in the case ofseparable
LCA groups, the classification of uniformities mayeven start with that of
d9,
g a metric kernel. Whenhowever,
theuniformity of dg
is not the weakest oneinducing
the weaktopology (see [Se]
for characterizations of the weakestmetrics).
To see that thedg- uniformity
is notstronger
than thatgenerated by
theLevy
metric pL, takePn
to be uniform on[0, n], Qn
uniform on[n, 2 n]
and note thatwhereas
(a) Limiting
behavior ofP), (T)
Throughout
take G to be the circle group T andPn
theempirical
measures for the
probability
measure(T),
i. e.where
~i, i = l,
..., n denotes an i. i. d. sequence of random variables with law P andbx
the unit mass at x. Therequirement that g
be a metrickernel
implies g (k~ ~
0Additionally,
suppose that g is of bounded variation and has the Fourier seriesexpansion
where an ~
0. Since g EL2 (T),
Parseval’s theoremimplies £ an
oo .Since g
is of boundedvariation,
the restriction to T of the translates of the2 x-periodic
extensionof g
to R is aVapnik-Chervonenkis
class offunctions
(see [Du3], [Po]
fordefinitions).
Astraightforward application
of
Dudley’s
CLT result[Du3]
for the function-indexedempirical
process(see
also Gine and Zinn[GZ1], [GZ2],
Pollard[Po]) gives
for allP E ~l 1 (T)
where
Gp
denotes a Gaussian process indexedby
the translates of g;Gp
has mean zero and covariance
[Du3]:
Therefore,
for any(T), c~~ P)
may beapproximated
inprobability by
the supremum of the Gaussian processGp.
A bounded andAnnales de l’Institut Henri Poincaré - Probabilités et Statistiques
compact
law of the iteratedlogarithm for d9 (P,~, P)
follows(Theorem 1.3, [DP]).
It turns out that if P denotes the uniform
probability
measure on[0, 2 7i:]
then the covariance structure of the
limiting
Gaussian processGp
processmay be
given explicitly.
In fact theGp
process isstationary.
THEOREM 3.I. -
Let g be a
metric kernelof
bounded variationof
theform (3.1), i. e.,
. -
and let P denote the
uniform probability
measure on T. Then thelimiting
Gaussian process
Gp
in(3.2)
isstationary
and has covariance structureProof -
It iseasily
seen thatsince
Jo
cos n(u - y)
cos m(v - y) dy
=0,
m ~ n.Expansion
of cos n(u - y)
and
cos n (v - y)
shows that(3.4)
reduces to the finite sum1 03A3 a2n cos n (u - v).
2 n=
1Q.E.D.
(b)
The calculation andapproximation
ofdg (Pn, P), ( ~)
For the remainder of this
section,
take G to be the additive group (l~.Since dg
isexpressed
as a supremum overtranslates,
arelatively
smallclass of
functions,
the estimation ofdg
isrelatively
easy. That we mayestimate
dg
makes its use in statisticalproblems attractive, especially
sinced~
possesses usefulproperties (e. g.
CLTproperties-see paragraph above)
not
enjoyed by
many other metrics. Infact,
in certain instancesP)
may be
easily computed,
wherePn
are the usualempirical
measures forP E
~l 1 (~) :
in such cases, the supremum over all translates can bereplaced by
the maximum over afinite
number N oftranslates,
where N = O(n).
The remainder of this section discusses ways to either
probabilistically
estimate or
exactly
calculate the value ofdg (Pn, P).
As for thefirst, exponential
bounds for(Pn, P)
may be obtainedthrough
the use ofgeneral
bounds available for theempirical
process indexedby
translatesof a fixed function. Such bounds hold
uniformly
in seeAlexander
[Al]
forsharp
bounds withlarge
constants and Yukich[Yu2]
for less refined
bounds,
but with smaller constants.Additionally,
for any law P onf~d, d >_ 1,
a. s. rates of convergence ofP)
to thesupremum of a Gaussian process may be found. This is achieved
by
almostsurely approximating by
anempirical
Brownianbridge
related to
P; by doing
so one obtains a. s. rates of convergence of the form O(n-°‘),
a > 0(see
e. g. Theorem 6.3 of Massart[Ma]).
The calculation
of dg (Pn, P)
is facilitatedby
both its weak structureand the latitude in the choice of g. As an
example,
if P is the uniformmeasure on
[0, 1]
and g is the bilateralexponential 1 2exp{-| x|},
thend9 P)
can beexplicitly
calculated.Indeed,
withprobability
oneDefining
new random variablesY;,
1 i 3 n,by
yields
withprobability
onemoreover, the sup is attained at an extremal
point
of3n
.
~(~= E Letting Y~, ~ 1,
denote the usual orderstatistics,
f=i
notice that is
piecewise
concave up over the intervals(0,Y~), (Y(D. Y(2))~ - ’ ~ (Y~~_~, Y~)),
andclearly
occurs at either0,1
or one of the
Y~
1x~
n.Elementary
calculations show that infAnnales de l’Institut Henri Poincaré - Probabilités et Statistiques
occurs when x assumes one of the 3 n values ..., x3
"~,
whereReturning
to(3.5)
we thus obtainwhere
s~
ranges over the set of 4 n + 2points
{ 0, 1, Xl, ..., Xn,
.aCl, ... , X3n~.
Using
the samemethod,
it is clear that if P is uniform on[a, b]
thend9 (Pn, P)
reduces to a maximum over 0(n) points.
It is not known whether similar methods can be used tocalculate d9 (Pn, P)
for non-uniform P:QUESTION. -
Given a law P onR,
is there a metrickernel g
for whichone may
explicitly
calculatethe dg
distance between P and theempirical
measure
Pn?
More
generally,
canthe dg
distance betweenarbitrary probability
meas-ures P and
Q
beinterpreted (or calculated)
in terms of a distance between random variables X and Yhaving respective marginals
P andQ?
Forexample
ifd9
isreplaced by
the Prokhorovmetric,
the answer to thequestion
is in the affirmative as shownby
Strassen’s famous theorem[St].
These observations lead to the
following question.
QUESTION. -
Isthe dg
distance between elements P andQ
ofM+1 (G)
equal
to a"probabilistic
distance" between random variables X andY,
where X and Y have
marginal
distributions P andQ, respectively?
In the
particular
caseof du
defined at the end of section two, the secondquestion
has thefollowing
solution:where the infimum is taken over the set of all
joint
distributions of X and Y with fixedmarginal distributions Jl
and v, and wheresee
[Ra].
ACKNOWLEDGEMENTS
The authors
gratefully
thank Professors B.Eisenberg
and R.Dudley
for their
helpful
comments and remarksduring
the course of this work.REFERENCES
[A1] K. S. ALEXANDER, Probability Inequalities for Empirical Processes and a Law of
the Iterated Logarithm, Ann. Prob., Vol. 12, 1984, pp. 1041-1067; Correction, Vol. 15, 1987, pp. 428-430.
[BF] C. BERG and G. FORST, Potential Theory on Locally Compact Abelian Groups, Springer-Verlag, 1975.
[DDF] A. D’ARISTOTILE, P. DIACONIS and D. FREEDMAN, On Merging of Probabilities, Technical Report No. 301, 1988, Dept of Statistics, Stanford, California.
[Du1] R. M. DUDLEY, Convergence of Baire Measures, Studia Mathematica, Vol. XXVII, 1966, pp. 251-268.
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(Manuscript received April 11th, 1988) (accepted April 24th, 1989.)