Depth Induced Regression Medians and Uniqueness

The notion of median in one dimension is a foundational element in nonparametric statistics. It has been extended to multi-dimensional cases both in location and in regression via notions of data depth. Regression depth (RD) and projection regression depth (PRD) represent the two most promising notions in regression. Carrizosa depth D C is another depth notion in regression. Depth-induced regression medians (maximum depth estimators) serve as robust alternatives to the classical least squares estimator. The uniqueness of regression medians is indispensable in the discussion of their properties and the asymptotics (consistency and limiting distribution) of sample regression medians. Are the regression medians induced from RD, PRD, and D C unique? Answering this question is the main goal of this article. It is found that only the regression median induced from PRD possesses the desired uniqueness property. The conventional remedy measure for non-uniqueness, taking average of all medians, might yield an estimator that no longer possesses the maximum depth in both RD and D C cases. These and other findings indicate that the PRD and its induced median are highly favorable among their leading competitors.

Regression Medians and Uniqueness

Notion of median in one dimension is a foundational element in nonparametric statistics. It has been extended to multi-dimensional cases both in location and in regression via notions of data depth. Regression depth (RD) and projection regression depth (PRD) represent the two most promising notions in regression. Carrizosa depth DC is another depth notion in regression. Depth induced regression medians (maximum depth estimators) serve as robust alternatives to the classical least squares estimator. The uniqueness of regression medians is indispensable in the discussion of their properties and the asymptotics (consistency and limiting distribution) of sample regression medians. Are the regression medians induced from RD, PRD, and DC unique? Answering this question is the main goal of this article. It is found that only the regression median induced from PRD possesses the desired uniqueness property. The conventional remedy measure for non-uniqueness, taking average of all medians, might yield an estimator that no longer possesses the maximum depth in both RD and DC cases. These and other findings indicate that the PRD and its induced median are highly favorable among their leading competitors.

On-Line Learning of Linear Dynamical Systems: Exponential Forgetting in Kalman Filters

The Kalman filter is a key tool for time-series forecasting and analysis. We show that the dependence of a prediction of Kalman filter on the past is decaying exponentially, whenever the process noise is non-degenerate. Therefore, Kalman filter may be approximated by regression on a few recent observations. Surprisingly, we also show that having some process noise is essential for the exponential decay. With no process noise, it may happen that the forecast depends on all of the past uniformly, which makes forecasting more difficult.Based on this insight, we devise an on-line algorithm for improper learning of a linear dynamical system (LDS), which considers only a few most recent observations. We use our decay results to provide the first regret bounds w.r.t. to Kalman filters within learning an LDS. That is, we compare the results of our algorithm to the best, in hindsight, Kalman filter for a given signal. Also, the algorithm is practical: its per-update run-time is linear in the regression depth.