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Conditional KL is measurable for supplied kernels

Statement

Let K,L be probability kernels from a measurable space (Z,Z) into a standard-Borel space (E,E). Then z↦D(K(z,⋅)∥L(z,⋅)) is Z-measurable, with +∞ allowed. Consequently the integral used to define conditional KL is well-defined.

Facts & Assumptions

Given: AC, the kernels K,L, and the standard-Borel target (E,E).

[A1]

AC supplies the countable generating algebra for standard-Borel E and the Radon–Nikodym density in measurable-space KL. The Axiom of Choice

[F1]

A standard-Borel space has a countable algebra A generating its sigma-algebra and determining finite measures. Standard borel spaces have countable generating and measure determining algebras

[F2]

For a probability kernel, integration of a nonnegative product-measurable function is measurable in the base variable; signed integrals are measurable when the positive and negative parts are finite. Measurability of integration against a kernel

[F3]

For probability laws P,Q, KL equals the supremum of ∫g dP−ln⁡∫eg dQ over bounded measurable real g. Variational and finite-partition formulas for measurable-space KL

Proof

Given: AC and probability kernels K,L into E.

1.1A1F1F3givenconstruct

Let ρ=P+Q for arbitrary probability measures P,Q on E. [given, choose] For the algebra A in [F1], the class of measurable B approximable in ρ-measure by members of A is a sigma-algebra: complements preserve symmetric-difference measure, finite unions preserve approximation, and a countable union is approximated by first truncating the union using finiteness of ρ and then approximating that finite union. It contains A, so it is all of E. Hence any bounded measurable real function can be approximated in L1(ρ) by bounded simple functions from a countable family G of rational-valued simple functions on A. On a fixed bound M, the functional ΦP,Q(g)=∫g dP−ln⁡∫eg dQ is continuous under L1(ρ) approximation, because et is Lipschitz on [−M,M] and ∫eg dQ≥e−M. Thus [F3] gives D(P∥Q)=sup⁡g∈G(∫g dP−ln⁡∫eg dQ). The family G is countable and does not depend on P,Q.

2.1F2step 1.1

For fixed g∈G, the functions z↦∫g(x)K(z,dx) and z↦∫eg(x)L(z,dx) are measurable by [F2], applying it to positive and negative parts for the first function. If ∣g∣≤M, then ∫eg dL(z)≥e−M>0, so its logarithm is measurable. Therefore each candidate Φz(g) is measurable.

3.1A1F3step 1.1step 2.1∎

Apply the identity in step 1.1 to P=K(z,⋅) and Q=L(z,⋅) for each fixed z. Then D(K(z,⋅)∥L(z,⋅))=sup⁡g∈GΦz(g), a countable supremum of measurable functions by step 2.1. This proves measurability and makes its nonnegative integral against any supplied base probability well-defined.

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Sources