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,Vol.75,No.4(July,2007),1175–1189NOTESANDCOMMENTSLEASTSQUARESMODE ,Vol.75,No.4(July,2007),1175–1189NOTESANDCOMMENTSLEASTSQUARESMODE

,Vol.75,No.4(July,2007),1175–1189NOTESANDCOMMENTSLEASTSQUARESMODE - PDF document

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,Vol.75,No.4(July,2007),1175–1189NOTESANDCOMMENTSLEASTSQUARESMODE - PPT Presentation

BRUCEEHANSENtionsineconometricsincludeworksbySalaiMartinDoppelhoferandMillerBrockandDurlaufAvramovFernandezLeyandSteelGarrattLeePesaranandShinBrockDurlaufandWestandWright ID: 316401

BRUCEE.HANSENtionsineconometricsincludeworksbySala-i-Martin Doppelhofer andMiller) BrockandDurlauf() Avramov() Fernandez Ley andSteel) Garratt Lee Pesaran andShin() Brock Durlauf andWest() andWright()

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,Vol.75,No.4(July,2007),1175–1189NOTESANDCOMMENTSLEASTSQUARESMODELAVERAGINGE.HThispaperconsiderstheproblemofselectionofweightsforaveragingacrossleast BRUCEE.HANSENtionsineconometricsincludeworksbySala-i-Martin,Doppelhofer,andMiller),BrockandDurlauf(),Avramov(),Fernandez,Ley,andSteel),Garratt,Lee,Pesaran,andShin(),Brock,Durlauf,andWest(),andWright().Inthefrequentistliterature,Buck-land,Burnham,andAugustin()andBurnhamandAnderson()sug-gestedexponentialAICweights.Theriskpropertiesofasimilarclassofesti-matorswasexaminedbyLeungandBarron().Yang()andYuanandYang()proposedamixingestimator.HjortandClaeskens()pro-videdanasymptoticanalysisofmodelaverageestimatorsinlikelihood-basedShrinkageandparameterpenalizationareotheralternativestomodelselec-tionandaveraging.Somerecentcontributionsincludethelasso-typeestima-torsofKnightandFu(),thepenalizedlikelihoodestimatorsofFanandLi)andFanandPeng(),andtheempiricalBayesestimatorofKnox,Stock,andWatson(Thereisalsoalargeliteraturethatdiscussestheeffectsofmodelselectiononinference.Potscher()showedthatAICselectionresultsindistortedin-ference.Kabaila()examinedtheimpactoncondenceregions.Buhlmann)presentedconditionsunderwhichpost-model-selection(PMS)estima-torsareadaptive.LeebandPotscher()examinedtheuncon-ditionalandconditionaldistributionofPMSestimatorsandarguedthattheycannotbeuniformlyestimated.Theapproachwetakeinthispaperissimilartothatofselectingthenumberoftermsinaseriesexpansion.Andrews()andNewey()studiedtheconvergenceratesforseriesestimatorsandgiveconditionsforasymptoticnor-mality,butdidnotgiverulesforselection.Shibata()demon-stratedtheasymptoticoptimalityofAICselectioninthecontextofGaussianregressions.Shibata’sanalysiswasextendedtonon-GaussianautoregressionsbyLeeandKaragrigoriou().Li()demonstratedtheasymptoticop-timalityofmodelselectioninhomoskedasticlinearregressionusingMallows’criterion,cross-validation,andgeneralizedcross-validation.Andrews(extendedLi’sresultstothecaseofheteroskedasticerrors.AthoroughreviewoftheasymptoticpropertiesofmodelselectioncriteriahasbeenprovidedbyShao().TheoptimalitycriterionusedinthesepaperswascritiquedbyKabaila(WeproposeamodelaverageestimatorwithweightsselectedbyminimizingaMallowscriterion.OurmaincontributionisademonstrationthattheMal-lowscriterionisasymptoticallyequivalenttothesquarederror,andthusourMallowsmodelaverage(MMA)estimatorasymptoticallyachievesthelowestpossiblesquarederrorintheclassofmodelaverageestimators.OurproofisanapplicationofTheorem2.1ofLi(Therearetwoimportantlimitationsofourresults.First,werestrictatten-tiontoregressionswithconditionallyhomoskedasticerrors.Andrews(showedthatmodelselectionbyMallows’criterionisnotoptimalunderhet-eroskedasticity.TheoptimalityofMMAwillsimilarlyfailunderheteroskedas- LEASTSQUARESMODELAVERAGINGticity.Second,ourasymptotictheoryrestrictsthemodelaverageweightstoadiscretesetduetothedifcultyofestablishinguniformityoveraweightvec-torwhosedimensionisunbounded.Developingweightselectionmethodsthatallowforheteroskedasticityandextendingtheprooftechniquetoallowforcontinuousweightsareimportanttopicsforfutureresearch.discussestheestimationframeworkandmodelaverageestimators.calculatestheaveragesquarederrorofthemodelaverageestimator.introducestheMallowscriterionforthemodelaverageestimatoranditssamplingproperties.SectionpresentssimulationevidenceinsupportofthenewMMAestimator.Proofsoftheresultsarepresentedinthe.AGaussprogramthatcalculatestheMMAestimatorisavailableontheauthor’swebpage,MODELAVERAGEESTIMATORLetnbearandomsample,whereisreal-valuedwhile)iscountablyinnite.ThemodelisthehomoskedasticlinearE(eE(eWeassumeandthat()convergesinmeansquare.Thelinearityof()isnotessentialtotheideaofmodelaveraging,butitgreatlysimpliesthealgebraiccalculations.Becausetheelementsofmaybetermsinaseriesexpansion,()includesnonparametricregression.Considerasequenceofapproximatingmodelswherethemodelusestherstelementsof,where0.Thethap-proximatingmodeliswheretheapproximationerroris.Inmatrixnotation,,whereisthematrixwithb,andLurkingbehind()isanexplicitorderingoftheregressors.Insomecases(suchasaseriesexpansion)thismaynotbetroubling,butinothercasesanaturalorderingoftheregressorsmaynotbeobvious.Inpractice,itmaybe BRUCEE.HANSENfeasibletoordertheregressorsbygroups,andthismaybeacommonapplica-tionofmodelaveraging.Letbeanintegerforwhichisinvertible.Forall,theleastsquaresestimateof.Letbeaweightvectorintheunitsimplexinin01]M:Mm=1wm=1(6)AmodelaverageestimatorofAmodelaverageestimatorbearssomeresemblancetoashrinkageestima-tor.Thiscanbeseenmostplainlywhentheregressorsareorthogonal.Inthiscase,thethelementofthemodelaverageestimatoristhethelementoftheunconstrainedestimatormultipliedby.Thusthecoefcientestimatesshrinktowardzero,withthedegreeofshrinkageincreasingwithHowever,inthestandardcasewheretheregressorsarenotorthogonal,suchasimplerepresentationisnotpossible.Inthethapproximatingmodel(),letsothat.Theestimateofinthethapproximatingmodel,where.Themodelaverageesti-mateofµ(W)P(W)Y,whereP(W)istheim-plied“hat”matrix.BecausethematrixP(W)playsanimportantroleinthealgebraicstructureofthemodelaverageestimator,wediscussheresomeofitsproperties.NoteP(W)issymmetricbutgenerallynotidempotent.LetdenotethelargesteigenvalueofanddeneWehave(i)tr(P(W))k(W)(ii)tr(P(W)P(W))(P(W)) LEASTSQUARESMODELAVERAGINGSQUAREDERRORDenetheaveragesquarederror(W)µ(W)µ(W)conditionalsquarederror(W)E(L(W),whereWehave(W))WisdeÞnedinFurthermoreLemmashowsthattheconditionalsquarederror(W)isaquadraticfunctionintheweightvector,anellipsoidincenteredatthezerovector.Itisinterestingtoobservethattheoptimalweightvector,whichminimizes(W),necessarilyputsnon-zeroweightonatleasttwomodels,exceptinthespecialcasethat.Toseethis,supposethat2,inwhichcase(W)isuniquelyminimizedby,whichisinTHEMALLOWSCRITERIONTheMallowscriterionforthemodelaverageestimatoris(W)k(W)k(W)denedinLemmaistheeffectivenumberofparameters.De-nition()dependsontheunknown.Wediscussbelowthereplacementofwithanestimate.TheMallowscriterionmaybeusedtoselecttheweightvector.Deneargmin(W)theempiricalMallowsselectedweightvector.Becausethereisnoclosed-formsolutionto(),theweightvectormustbefoundnumerically.Forthiscalcu-lation,itisconvenienttowrite()inthefollowingform.Letbetheresidualvectorfromthethmodel,letbethe BRUCEE.HANSENcollectionoftheseresiduals,andletbethe1vectorofthenumberofparametersinthemodels.Then()equals(W)whichislinear-quadraticin.Thesolution()minimizes()subjecttothenonnegativityandsummationconstraints().Thisisaclassicquadraticprogrammingproblemforwhichnumericalalgorithmsarereadilyavailable.(Forexample,intheGaussprogramminglanguage,theprocedureQPROGisappropriate.)Thesolutionmaybeaunitvectororaninteriorvalue.Ifmoderatelylarge,atypicalsolutioncanputzeroweightonmanyofthein-dividualmodels.TheMallowsmodelaverageestimatoris()usingtheweightWepresenttwojusticationsfortheMallowscriterion.Ourrstistheclassicobservationthat(W)isanunbiasedestimateoftheexpectedsquarederrorplusaconstant.Wehave(W)(W)Oursecondjusticationisthatiftheweightsarerestrictedtoadiscreteset,theempiricalMallowsweightvectorasymptoticallyminimizesthesquareder-ror.Specically,forsomeinteger,lettheweightsberestrictedtothe N2 andlet(N)bethesubsetofrestrictedtothissetofweights.Letargmin(N)(W)betheMallowsweightvector,thechoiceobtainedbyminimizingtheMallowscriterionoverthediscreteweightset(N)ThefollowingresultisanapplicationofTheorem2.1ofLi(),whoshowedtheasymptoticoptimalityofMallows’criterionformodelselection.(W)almostsurelyandforsomeÞxedinteger (N)(W) LEASTSQUARESMODELAVERAGINGNotethatthetheoremplacesnorestrictionon,thelargestmodelincludedinthemodelaverage(otherthantherequirementthatisinvertible).maybexedasmaydivergetoinnity.showsthatthesquarederrorobtainedusingtheMallowsweightisasymptoticallyequivalenttotheinfeasibleoptimalweightvector.ThismeansthattheMMAestimatorisasymptoticallyoptimalintheclassofmodelaverageestimators()wheretheweightvectorisrestrictedtotheset(N)Therestrictionof(N)canbemadelessbindingbypickingwhichcanbedoneaslongastheconditionalmomentbound()holds.Thisrestrictionisimposedbecausetheproofof()requiresthat(W)isas-ymptoticallyequivalentto(W)uniformlyover.Thetroubleisthatthedimensionofthesetisunboundedwhen,renderingconventionalproofmethodsinapplicable.requirescondition(),whichspeciesthatthereisnoniteapproximatingmodelforwhichthebiasiszero.Thisassumptionisconven-tionalfornonparametricregression.Forexample,if,thenwehavetheexplicitrate.If()fails,thenMMAwillnotsatisfytheopti-mality(Inpractice,isunknown,so()needstobecomputedwithasampleesti-mate.Onechoiceis,wherecorrespondstoa“large”approximatingmodel.Otherestimatorsforbeenproposedinthenonparametricregressionliterature.Lemmatoholdifisunbiasedfor,whichholdsif0,sothethapproximat-ingmodelhasnobias.Theoremholdsasstatedaslongasisconsistent,whichisvalidasshownnext.K/nFINITESAMPLEINVESTIGATIONWenowinvestigatethenitesamplemeansquarederroroftheourmodelaverageestimatorinasimplesimulationexperiment.Thesettingistheinnite-orderregression.Weset1tobetheintercept;theareindependentandidenticallydistributed.Theer-andindependentof.(Otherexperiments,notreported,showedthattheresultsarenotsensitivetoalternativedistributionsfortheregressorsandregressionerror.)Theparametersaredeterminedbytherule .Thepopulationiscontrolledbythepara-Thesamplesizeisvariedbetween50,150,400,and1000.Theparame-isvariedbetween05,1.0,and15.Thelargerimpliesthatthecoef-declinemorequicklywith.Thenumberofmodelsisdeterminedbytherule11,16,22,and30forthefoursamplesizes). BRUCEE.HANSENThecoefcientwasselectedtocontrolthepopulationtovaryonagridbetween0.1and0Weconsiderveestimators:(1)AICmodelselection(AIC),(2)Mallows’modelselection(Mallows),(3)smoothedAIC(S-AIC),(4)smoothedBIC(S-BIC),and(5)Mallows’modelaveraging(MMA).TheAICcriterionforisAIC.TheAICmodelselectionestimatorisminimizesAIC.S-AICwasintroducedbyBuckland,Burnham,andAugustin()andembracedbyBurnhamandAnderson()andHjortandClaeskens().Itistheleastsquaresmodelaverageestimator()withtheweights 2AICm)/Mj=1exp(Š1 .S-BICisasimpliedformofBayesianmodelaveraging.Itistheleastsquaresmodelaveragees-timator()withtheweights 2BICm)/Mj=1exp(Š1 ,whereToevaluatetheestimators,wecomputetherisk(expectedsquarederror).Wedothisbycomputingaveragesacross100,000simulationdraws.Foreachparameterization,wenormalizetheriskbydividingbytheriskoftheinfeasibleoptimalleastsquaresestimator(theriskofthebest-ttingmodelTheriskcalculationsaredisplayedinFigures5,1.0,and1.5,respectively.Ineachgure,thefourpanelsdisplaysamplesizes.Ineachpanel,risk(expectedsquarederror)isdisplayedontheaxisandthepopulationdisplayedontheaxis.ThetwodottedlinescorrespondtoAICandMallowsselection.Thedashed,dash-dotted,andsolidlinescorrespondtoS-AIC,S-BIC,andMMA,respectively.Ineachpanel,theAICandMallowsselectionmethodshavequitesimilarrisk.ThesmoothedAICestimatorachievesalowerriskthanAICmodelselec-tion,whichisconsistentwiththendingsintheearlierliterature.TheS-AICandMMAestimatorsarenearlyequivalentforthecase5andlargeotherwise,MMAachievesalowerriskthanS-AIC.Inmanycases,itsnormal-izedriskislessthan1,meaningthatitislowerthanthatofinfeasibleoptimalmodelselection.ItisalsoinstructivetocontrasttheperformanceoftheMMAandS-BICestimators.TheMMAestimatorachieveslowerriskinmostcases,butS-BIChaslowerriskwhenaresmall,anditsrelativeperformanceimprovesislarge.Inparticular,S-BIChasmuchlowerriskwhen5and50.Theirrelativeperformancedependsstronglyonsamplesize,withtheS-BICestimatorshowingincreasingrelativeriskandtheMMAshowingde-creasingrelativerisk,asincreases.Inmanycases,however,theriskoftheS-BICestimatorisquitepoorrelativetotheothermethods.Dept.ofEconomics,UniversityofWisconsin,1180ObservatoryDrive,Madison,WI53706,U.S.A.;ManuscriptreceivedJanuary,2006;ÞnalrevisionreceivedAugust,2006. LEASTSQUARESMODELAVERAGING ROOFOF:Parts(i)and(ii)followfromthefactsthattr,tr,andsimplealgebra.Part(iii)usesthefactthatisidempotentsothat(P(W))P(W)\f \f\fMm=1wmmax\f\fPm\f Q.E.D.ROOFOF:Notethatµ(W)P(W))µP(W)e(W)P(W))(IP(W))µP(W)BP(W)P(W)eLemmaandassumption()implythatE(eP(W)P(W)e(P(W)P(W)) BRUCEE.HANSEN Takingconditionalexpectationsof(),weobtainE(L(W)P(W))(IP(W))µ))µb\n1b\nM].ThenP(W))µNotethatfor.Thenandthus.ItfollowsthatP(W))(IP(W))µandweobtain().Furthermore,fornotethatandthusasclaimed. LEASTSQUARESMODELAVERAGING Wenowshowthat0,whichholdsif,forall) �0.Ifistherstunitvector,then) 0.Otherwise,if,notethat0,andbythedenitionandsomealgebraicmanipulations,+···+) �0asrequired.Q.E.D.ROOFOF:Bystraightforwardalgebra,(W)(W)P(W))µP(W)ek(W))Lemmaandassumption()implythatE(eP(W)e(P(W))k(W) BRUCEE.HANSENTakingexpectationsof(),Equation()followsdirectly.Q.E.D.ROOFOF:Theorem2.1ofLi()established()forabroadclassoflinearestimators.Itissufcienttoverifythathisequations(A.1),(A.2),and(A.3)holdalmostsurely,conditionalon.Indeed,(A.1)isimpliedbypart(iii)ofLemma,and(A.2)holdsby().Itremainstoshow(A.3),whichinournotationis(N)(W)almostsurelyasForintegers1···,letjbetheweightvectorthatsetsN,andtheremainderzero.Wecanwrite(N)j···Therestrictionoftheweightstotheform1iswithoutlossofgenerality,becausetheweakorderingoftheintegersallowsties.Wethenhave(N)(W)jNowbreakthesumintotwogroupsbasedonwhether.Fortherstgroup(whichhaslessthanelements),usethebound(W)from()andforthesecondgroup,usethesimpleboundjjj N2kjN2 wheretherstinequalityisimpliedby()andthesecondusesthedenitionsjUsingthesebounds,j N2jNŠ(N+1)\bŠ1n+2 N2Š(N+1)jN=\bnjŠ2N LEASTSQUARESMODELAVERAGING almostsurelyas.Togetherwith(),thisestablishes()asde-Q.E.D.ROOFOF:Sinceweseethat nŠKe(IŠPK)e+1 nŠKbK(IŠPK)bK+21 Weexaminethetermsontherightsideof().First,because,byTheorem2ofWhittle(K)Thusforany0,byMarkov’sinequality, nŠKe(IŠPK)eŠ2�E|e(IŠPK)eŠ2(nŠK)|2 2(nŠK)2C2\t1/(N+) .Second, E(b andthesquareintegrabilityof0as.Thisimplies0.Similarly,thethirdtermontherightsideof()isandweconcludethatQ.E.D.KAIKE,H.(1973):“InformationTheoryandanExtensionoftheMaximumLikelihoodPrinci-ple,”inSecondInternationalSymposiumonInformationTheory,ed.byB.PetrocandF.Csake.Budapest:AkademiaiKiado,267–281.267–281.1175]ANDREWS,D.W.K.(1991a):“AsymptoticNormalityofSeriesEstimatorsforNonparametricandSemiparametricRegressionModels,”,59,307–345. 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