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Wasserstein metric and continuity-equation foundations
1 · Prerequisites
- Absolute and Conditional Convergence; Rearrangement; Products
- Absolute Continuity and the Sharp Fundamental Theorem of Calculus
- Areas of Elementary Plane Figures
- Binary Operations, Monoids, Groups and Subgroups
- Bounded Linear Operators and Quotient Spaces
- Bounded Variation and the Riemann–Stieltjes Integral
- Brownian Motion Construction and Continuity
- Compact Operators and Riesz Schauder Theory
- Compactness
- Compactness in Metric Spaces
- Complete Metrizability, Čech-Completeness, and Baire Category
- Completeness, Completion, and Uniform Continuity
- Complex Norms and Realification
- Complexification, Realification and Real Structures
- Conditional Distributions and Regular Conditional Probability
- Conditional Expectation
- Construction of the Natural Numbers
- Construction of the Real Numbers via Cauchy Sequences
- Construction of the Real Numbers via Dedekind Cuts
- Continuity, IVT, EVT, and Uniform Continuity
- Cosets, Index and Lagrange's Theorem
- Countability and Uncountability
- Countability Axioms and Cardinal Functions
- Density Separability and Convolution in Lᵖ
- Detection and quantification limits
- Determinants of Matrices over a Commutative Ring
- Differentiation of Monotone Functions and the Vitali Covering Theorem
- Divisibility, Euclidean Domains, Principal Ideal Domains and Unique Factorisation
- Dual Spaces, Bilinear and Quadratic Forms, and Sylvester's Law of Inertia
- Filters and Ultrafilters
- Finite Counting, Factorials and Binomial Coefficients
- Finite Probability and the Probabilistic Method
- Finite-window spatial likelihood
- Foundations of the Real Numbers for Analysis
- Fubini and Change of Variables
- Function Space Topologies and the Exponential Law
- Fundamental Trigonometric Identities
- Gaussian Elimination, Elementary Matrices and Reduced Row Echelon Form
- Group Actions, Orbits, Stabilisers and Cayley's Theorem
- Hausdorff via the Diagonal
- Hilbert Space Geometry and Riesz Representation
- Ideals, Quotient Rings and the Isomorphism Theorems for Rings
- Improper and Parameter-Dependent Multiple Integrals
- Improper Integrals
- Infinite Product Measures and Kolmogorov Extension
- Inner Product Spaces, Gram-Schmidt, Projections and Adjoints
- Lebesgue Measure on Euclidean Space
- Lebesgue-Stieltjes Measures and Distribution Functions
- Limits of Real Functions
- limsup, liminf, and Subsequential Limits
- Linear Independence, Bases and Dimension
- Linear Transformations, Rank-Nullity and Quotient Spaces
- Matrices, the Matrix of a Linear Map, and Change of Basis
- Measurable Functions and Simple Approximation
- Measures and Their Basic Properties
- Metric Spaces
- Mixed Partials, Taylor Formulae, and Extrema
- Modes of Convergence Egorov and Lusin
- Monotone Functions, Discontinuities, and Continuity Sets
- Monotone Sequences, Bolzano-Weierstrass, and Cauchy Completeness
- Normal Subgroups and Quotient Groups
- Normed and Banach Spaces
- Norming and Separation under Hahn–Banach
- Order, Zorn's Lemma, and the Axiom of Choice
- Outer Measure and the Caratheodory Extension Theorem
- Partitions of Unity and Paracompactness
- Picard-Lindelöf and First-Order Ordinary Differential Equations
- Pointwise Extended-Real Function Products
- Polynomial Rings, the Division Algorithm and Roots
- Power Series and Real-Analytic Functions
- Probability Spaces Random Variables and Expectation
- Product Measures and the Fubini Tonelli Theorems
- Properties of the Integral and the Working FTC
- Radon Measures and the Riesz Markov Kakutani Theorem
- Relations, Functions, and Quotients
- Rings, Subrings, Integral Domains and Fields
- Rⁿ as a Normed Space; Vector-Valued Functions
- Roots, Rational Powers, and Classical Inequalities
- Separation Axioms: the Hierarchy
- Sequences and Limits
- Sequences and Series of Functions; Uniform Convergence
- Series: Convergence and the Nonnegative Tests
- Sigma Algebras and Borel Sets
- Signed and Complex Measures Hahn and Jordan
- Simple Field Extensions and the Construction of the Complex Numbers
- Sine, Cosine, and the Definition of Pi
- Standard-Borel Real Codings and Determining Classes
- Subspaces, Products, and Quotients
- Suprema and Infima
- Symmetric Groups, Cycle Decomposition and the Sign Homomorphism
- The Analytic Hahn Banach Theorem
- The Ascoli–Arzelà Theorem
- The Cantor Set, Baire Category, and Measure Zero in ℝ
- The Derivative and the Mean Value Theorems
- The Exponential Function
- The Inverse and Implicit Function Theorems
- The Lebesgue and Riemann Integrals Compared
- The Lebesgue Integral and the Convergence Theorems
- The Logarithm and General Powers
- The Lᵖ Spaces Holder Minkowski and Riesz Fischer
- The Maximal Function and Lebesgue Differentiation
- The Radon Nikodym Theorem and Lebesgue Decomposition
- The Riemann Integral in Rᵐ and Jordan Content
- The Riemann Integral: Definition and Integrability
- The Topology of Euclidean Space
- The Total Derivative in ℝᵐ → ℝⁿ
- The ZFC Axioms and the Basic Set Constructions
- Topological Spaces and Continuity
- Topology of ℝ
- Triangularisation, Generalised Eigenspaces and Jordan Canonical Form
- Urysohn's Lemma and the Tietze Extension Theorem
- Vector Spaces, Linear Subspaces, Span and Direct Sums
- Weak Convergence Tightness and Representation
2 · Logical flowchart
3 · Definitions, theorems and proofs
The Euclidean quadratic Wasserstein space
Definition
For an integer , let have its Euclidean norm and Borel sigma-algebra. Define to be the Borel probability measures with . A coupling of is a Borel probability measure on whose first and second coordinate marginals are and ; write for the set of couplings. Define
Definition references
def borel probability law on a polish space
def expectation of a nonnegative or integrable random variable
def product sigma algebra and finite product sigma algebras
lem borel product of second countable spaces
Filippo Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §§5.1–5.3
Facts & Assumptions
Given: An integer and .
The product of two probability measures exists, is a probability, and has the two given marginals. The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
For a nonnegative function on a product probability space, Tonelli identifies its integral with either iterated integral; . Tonelli's theorem for nonnegative measurable functions on a sigma-finite product Expectation of a nonnegative or integrable random variable
Proof
The product law is a Borel probability on with marginals by [F1], so it belongs to . Thus the coupling set in the definition is nonempty.
By the inequality in [F2] and the finite second moments of , Tonelli gives All coupling costs are nonnegative, so their infimum is finite and nonnegative; its square root in the displayed definition is therefore a finite real number.
Absolutely continuous curves of order two in Wasserstein space
Definition
Fix . A curve is absolutely continuous of order two, written , if it is continuous in and there is a nonnegative Lebesgue-measurable with such that for every . At an interior time where the limit exists, the metric derivative is ; no endpoint derivative is required.
Definition references
A narrow probability curve defines its space-time measure
Statement
Let and let be a narrowly continuous curve of Borel probability measures on , where narrow continuity means convergence against every bounded continuous real test function. For a product-Borel set , write and define . Then is a probability kernel, is a finite Borel measure of total mass , and for every nonnegative product-Borel , .
Statement references
def borel probability law on a polish space
def measure kernel and probability kernel
def product sigma algebra and finite product sigma algebras
lem borel product of second countable spaces
thm sections of product measurable sets are measurable
thm measurability of integration against a kernel
thm monotone convergence for the integral
thm increasing simple approximation of a nonnegative measurable function
def nonnegative lebesgue integral
def integral of a nonnegative simple function
cor additivity of the nonnegative lebesgue integral
prop closure properties of measurable functions used by the integral
Filippo Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §§5.1–5.3
Facts & Assumptions
Given: and a narrowly continuous curve of Borel probability measures on .
A Borel probability law on a Polish space is a countably additive measure on its Borel sigma-algebra with total mass one. Borel probability law on a polish space
Narrow convergence of Borel probabilities implies the open-set lower bound for every open . Portmanteau theorem
A lambda-system containing a pi-system contains the sigma-algebra it generates. Dynkin's pi-lambda theorem
A probability kernel has a probability measure in every section and measurable evaluations in its source variable. Measure kernel and probability kernel
The Borel sigma-algebra on a product of second-countable spaces equals the product sigma-algebra, which is generated by measurable rectangles. Borel sigma-algebra of a product of second-countable spaces The product sigma-algebra and its finite iterates
Sections of product-measurable sets are measurable. Every section of a product-measurable set is measurable
For a probability kernel and a nonnegative product-measurable function , is measurable. Measurability of integration against a kernel
Increasing limits pass through nonnegative Lebesgue integrals. Monotone convergence for the integral
Every nonnegative measurable function has an increasing simple approximation; nonnegative simple integrals are finite sums of their level-set measures; increasing limits of measurable functions are measurable. Every nonnegative measurable function is the increasing limit of simple measurable functions The nonnegative Lebesgue integral The integral of a nonnegative simple function Additivity of the nonnegative Lebesgue integral Closure properties of measurable functions used by the integral
A measure is zero on the empty set and countably additive on disjoint measurable unions. Measures on sigma-algebras
Proof
Let be open and let . Narrow continuity gives , so [F2] gives . Thus is lower semicontinuous and hence Borel measurable.
Let be the Borel sets for which is measurable. It contains the whole space because each section is a probability. If , then , so . For pairwise disjoint , countable additivity gives , a measurable increasing limit. Hence is a lambda-system. The open sets form a pi-system generating the Borel sigma-algebra and belong to by step 1.1, so [F3] and [F9] give . Together with [F4], this proves that is a probability kernel.
By [F5], a product-Borel set is measurable for . Its sections are Borel by [F6]. Since is a probability kernel by step 2.1, [F7] applied to shows that is measurable. Thus is defined; and .
If are disjoint product-Borel sets, their sections are disjoint and . Integrating the increasing partial sums and using [F8] gives ; with step 2.1 this makes a finite Borel measure. For an indicator, the iterated-integral formula is the definition of ; finite nonnegative simple combinations give it for simple functions. For arbitrary nonnegative product-Borel , use [F9] to choose and apply [F8] to both and the time-section integrals. This proves .
Finite-action continuity equation in Euclidean space
Definition
Fix and an integer . Let be a narrowly continuous curve in (so is continuous for every bounded continuous ), let be its space-time measure , and let be Borel. Its squared action is . If , say that solves the continuity equation for when for every . This is the distributional meaning of ; the continuous representative fixes the endpoint laws.
Gluing two Euclidean couplings
Statement
Assume the Axiom of Choice. Let , let be a Borel probability on and a Borel probability on , and suppose the second marginal of and first marginal of are the same probability on . There is a Borel probability on whose marginal is and whose marginal is .
Statement references
The Euclidean quadratic Wasserstein space
Finite products of standard Borel spaces are standard Borel
Disintegration of a joint law on standard borel spaces
The product measure of two sigma-finite measure spaces
The product sigma-algebra and its finite iterates
Borel sigma-algebra of a product of second-countable spaces
Measure kernel and probability kernel
Measurability of integration against a kernel
Every section of a product-measurable set is measurable
Monotone convergence for the integral
Borel probability law on a polish space
Ambrosio, Gigli, and Savaré, Gradient Flows, Chapter 8
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5
Diagram
In the diagram, , , and . It records the required projections from the joint law onto the adjacent coordinate pairs. The arrows are pushforwards of ; the proof below constructs the middle measure explicitly and does not infer existence from the picture.
\begin{tikzpicture}[>=stealth] \node (alpha) at (0,0) { on }; \node (gamma) at (3.5,0) { on }; \node (beta) at (7,0) { on }; \draw[->] (gamma) -- node[above] {} (alpha); \draw[->] (gamma) -- node[above] {} (beta); \end{tikzpicture}
The two outer laws have the same middle marginal on ; the arrows specify that projecting the constructed triple law onto either adjacent pair recovers the corresponding outer law.
Facts & Assumptions
Given: the Axiom of Choice, the two probability measures, and their common middle marginal .
Euclidean spaces with their Borel sigma-algebras are standard Borel; finite products have the product Borel sigma-algebra. Standard Borel spaces Finite products of standard Borel spaces are standard Borel Borel sigma-algebra of a product of second-countable spaces
Under AC The Axiom of Choice, a probability on a product of standard Borel spaces with second marginal disintegrates as for a probability kernel , with the specified joint law recovered by integrating the kernel. Disintegration of a joint law on standard borel spaces
Products of two probability measures exist, have mass one, and assign a rectangle the product of its factor masses. The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
The sets measurable for the product sigma-algebra are generated by measurable rectangles, and a pi-system contained in a lambda-system generates a sigma-algebra contained in that lambda-system. The product sigma-algebra and its finite iterates Dynkin's pi-lambda theorem
Kernel evaluations on measurable sets are measurable; nonnegative measurable functions can be integrated against a kernel measurably, and sections of product-measurable sets are measurable. Measure kernel and probability kernel Measurability of integration against a kernel Every section of a product-measurable set is measurable
Monotone convergence passes increasing nonnegative integrands through integrals; probability measures are countably additive. Monotone convergence for the integral Measures on sigma-algebras
If is a Borel probability law on a Polish space and is Borel into a Polish space, define ; preimages show this is a Borel probability law and that coordinate marginals compose with coordinate projections. Borel probability law on a polish space Measures on sigma-algebras
Proof
Apply [F2] to with its second coordinate y as conditioning variable, obtaining a probability kernel with . The supplier conditions on the second marginal, so for first define the coordinate swap and on . By [F7], this is a Borel probability whose second marginal is the common law . Apply [F2] to to obtain a probability kernel with , equivalently . Thus for every Borel , , and both joint laws are disintegrated over the same conditioning law.
For each , let , the product probability on . For a rectangle , is measurable in . The sets for which is measurable form a lambda-system: the whole space has value one, complements have value , and disjoint unions have value the increasing limit of finite sums. Rectangles form a pi-system generating the product Borel sigma-algebra by [F1] and [F4]. Thus [F4] proves measurability for every Borel . The same lambda-system argument applied to rectangles in the variables shows that is measurable for each Borel , where .
Define on the product Borel sigma-algebra in the coordinate order . It is nonnegative and has total mass one. For disjoint , their sections are disjoint, so countable additivity of followed by monotone convergence [F6] gives . Hence is a Borel probability.
For Borel rectangles and , the definition and the two identities in step 1.1 give respectively and . Rectangles determine finite Borel measures by [F4], so these identities identify the two pair marginals in coordinate order . Define the Borel coordinate permutation and set , meaning for each Borel ; by [F7] this is a Borel probability. The coordinate projections satisfy and , hence their pushforwards are exactly and .
Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
Statement
Assume the Axiom of Choice. For every pair , the infimum of over couplings of and is finite and is attained. If , converges narrowly to , and converges narrowly to , then
Statement references
The Euclidean quadratic Wasserstein space
Weak convergence of borel probability measures
Polish spaces are separable completely metrizable spaces
Prokhorov tightness theorem on polish spaces
Weakly convergent sequences are tight
Monotone convergence for the integral
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Tight family of probability measures
The product measure of two sigma-finite measure spaces
Expectation of a nonnegative or integrable random variable
Tonelli's theorem for nonnegative measurable functions on a sigma-finite product
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5
Facts & Assumptions
Given: AC; for the attainment claim, ; for the lower-semicontinuity claim, with narrowly convergent sequences and .
A product of two Borel probabilities is a Borel probability with the specified marginals; is Polish. The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique Polish spaces are separable completely metrizable spaces
A narrowly convergent sequence of Borel probabilities on a Polish space is tight. A tight sequence on a Polish space has a weakly convergent subsequence under AC. Weakly convergent sequences are tight Tight family of probability measures Prokhorov tightness theorem on polish spaces The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice ()
Coordinate projections are continuous, so weak convergence of joint laws implies weak convergence of their coordinate marginals; a probability law is determined by its values on measurable rectangles. Weak convergence of borel probability measures Weak limits are unique
For a nonnegative measurable function, integrals of an increasing sequence converge to the integral of its pointwise limit. Monotone convergence for the integral Expectation of a nonnegative or integrable random variable
The product coupling has finite quadratic cost because and both marginals have finite second moment. The corresponding iterated integrals are justified by Tonelli. Tonelli's theorem for nonnegative measurable functions on a sigma-finite product
Proof
The product probability is a coupling by [F1]. The inequality in [F5] gives its cost at most . Thus the coupling set is nonempty and its cost infimum is finite and nonnegative.
For each integer , by AC choose a coupling with . Their marginals are the fixed probabilities . For any , tightness of each marginal supplies compact sets with and . Then for every . Hence is tight on the Polish space ; [F2] gives a subsequence . By [F3] its marginals are .
For , the function is bounded and continuous. Weak convergence therefore gives . Letting and using [F4] yields . Since is a coupling and is the infimum, equality holds; the infimum is attained.
Put . If , the asserted inequality is immediate. Otherwise choose a subsequence indexed by integers , denoted , along which the costs converge to , and choose by AC couplings with costs at most . The marginal sequences are tight by [F2]; choosing compact sets for each coordinate and applying the same union bound as in step 2.1 proves is tight on . A further subsequence converges weakly to a probability , whose marginals are by [F3]. For every , bounded continuity of gives . Monotone convergence [F4] then gives . The definition of and the coupling property imply .
The quadratic Wasserstein distance is a metric
Statement
Assume the Axiom of Choice. For every integer , the function defined on is a metric: for all it is finite and nonnegative, exactly when , , and .
Statement references
The Euclidean quadratic Wasserstein space
Gluing two Euclidean couplings
Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
Minkowski's integral inequality
Change of variables for expectation
AC implies DC implies countable choice
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5
Facts & Assumptions
Given: AC and .
The quadratic coupling infimum is finite and attained by a coupling. The Euclidean quadratic Wasserstein space Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
Given couplings of with and with , under AC there is a joint law of with those two pair marginals. Gluing two Euclidean couplings The Axiom of Choice
The scalar Minkowski inequality holds, including finite sums; applied to the nonnegative functions and , it combines with the pointwise Euclidean triangle inequality. Minkowski's integral inequality
If is a Borel probability law on a Polish space and is Borel into a Polish space, define ; preimages make this a Borel probability law, coordinate marginals compose with coordinate maps, and for nonnegative Borel h by change of variables for expectation. Borel probability law on a polish space Measures on sigma-algebras Change of variables for expectation
Proof
The product coupling has finite cost by [F1], so is finite and nonnegative. The diagonal map is Borel, and its pushforward is a Borel probability by [F4]. Its two coordinate marginals are , and its cost is by [F4], hence . The coordinate swap is Borel; for every coupling of , [F4] shows is a probability with first marginal and second marginal , while its cost is by [F4]. Since is its own inverse, this correspondence is onto and preserves costs, proving equality of the two infima.
If , choose an optimal coupling using [F1]. Its integral of is zero. For each positive integer , the set has -measure zero, since its contribution to the integral is at least times its measure. Their union is the complement of the diagonal, so is concentrated on the diagonal. For every Borel set , both coordinate indicators agree -almost everywhere, giving . Conversely, if , step 1.1 gives distance zero.
Choose optimal couplings of and of using [F1]. Glue them by [F2] to obtain a Borel probability on . The Borel projection has pushforward a Borel probability by [F4]; its coordinate marginals are and , so it is a coupling. By [F4] its cost is . Pointwise, ; applying [F3] on gives This proves the triangle inequality and all metric axioms.
The quadratic Wasserstein space is complete
Statement
Assume the Axiom of Choice. The metric space is complete: every -Cauchy sequence converges in to an element of .
Statement references
The Euclidean quadratic Wasserstein space
The quadratic Wasserstein distance is a metric
Gluing two Euclidean couplings
Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
Prokhorov tightness theorem on polish spaces
Minkowski's integral inequality
Monotone convergence for the integral
Weakly convergent sequences are tight
Tight family of probability measures
Polish spaces are separable completely metrizable spaces
A complete, totally bounded metric space is compact, proved from countable choice used exactly once
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Change of variables for expectation
Expectation of a nonnegative or integrable random variable
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5
Facts & Assumptions
Given: AC and a -Cauchy sequence in .
The function is a metric under AC; any two consecutive laws have an optimal coupling, and two couplings with a common marginal can be glued under AC. The quadratic Wasserstein distance is a metric Optimal quadratic couplings exist and their cost is weakly lower semicontinuous Gluing two Euclidean couplings
Borel probabilities on Polish spaces are tight; Prokhorov's theorem extracts a weakly convergent subsequence from a tight sequence under AC. Weakly convergent sequences are tight Tight family of probability measures Prokhorov tightness theorem on polish spaces Polish spaces are separable completely metrizable spaces The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice () The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain
Scalar Minkowski's inequality holds in ; for Euclidean-valued , the pointwise triangle inequality gives , so scalar Minkowski applied to gives . Cauchy--Schwarz bounds first moments by second moments on a probability space, and Fatou's lemma holds for nonnegative measurable functions. Minkowski's integral inequality Cauchy–Schwarz: , with equality exactly for dependent pairs Fatou's lemma
Integrals of increasing nonnegative functions converge to the integral of their pointwise limit; pushforward integration satisfies for nonnegative measurable . Monotone convergence for the integral Change of variables for expectation Expectation of a nonnegative or integrable random variable
A complete totally bounded metric space is compact under Countable Choice; AC supplies Countable Choice. A complete, totally bounded metric space is compact, proved from countable choice used exactly once The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice ()
Weak convergence is convergence against bounded continuous tests; continuous coordinate projections preserve it by composition of tests, and a probability law has a unique weak limit. Weak convergence of borel probability measures Weak limits are unique
If is a Borel probability law on a Polish space and is Borel into a Polish space, define ; preimages show this is a Borel probability law and that coordinate marginals compose with the corresponding coordinate maps. Borel probability law on a polish space Measures on sigma-algebras
Proof
For each integer , the Cauchy property gives a threshold N_k such that whenever . Set and recursively . Then and . By AC choose an optimal coupling of these consecutive laws for each k using [F1].
Put , the set of sequences of Euclidean vectors indexed by positive integers, and equip with . This metric induces the product topology: each coordinate projection is continuous from the bound on its summand, and a product neighborhood restricting finitely many coordinates contains a sufficiently small D-ball. Conversely, given a D-ball radius, make the geometric tail less than half that radius and restrict the finitely many remaining coordinates so their summands total less than the other half; this gives a product neighborhood inside the D-ball. A D-Cauchy sequence is Cauchy in each coordinate, so coordinate completeness gives a limit in S; bounding the first finitely many coordinate terms and then the geometric tail proves convergence in D. Sequences of rational vectors which are zero after finitely many coordinates form a countable dense subset, since the tail is arbitrarily small and each of finitely many coordinates can be approximated by rationals. Thus S is complete and separable, hence Polish by definition.
Set , the probability on the first two coordinates. For , assume is a probability on coordinates with adjacent pair marginals and last marginal . Regard it as a law on , and regard as a law on ; they have the common second/first marginal . The gluing statement [F1] gives on coordinates preserving all earlier adjacent marginals and adding . Let send to ; this map is continuous for the product topology. Define , that is, for Borel . By [F7] it is a Borel probability, and its first coordinates have law while every later coordinate equals zero.
The th marginal of any is either (when ) or . Each fixed probability is tight by [F2]; AC chooses a compact containing zero with . Countable subadditivity gives for every . The product is compact in : it is closed and complete, and it is totally bounded because for any radius one first makes the metric tail small and then takes finite nets in the finitely many compact coordinates; [F5] applies. Hence is tight. By [F2] and Prokhorov, a subsequence converges weakly to a probability on .
For fixed , all sufficiently late have their coordinate marginal equal to . The coordinate projection is continuous, so the projected laws of converge weakly to the corresponding marginal of ; because they are eventually exactly , uniqueness of weak limits [F6] shows that this marginal is . Let be the coordinate maps on . By [F4] and the pair marginal identity, Therefore by Cauchy–Schwarz. Monotone convergence [F4] shows , so this sum is finite almost everywhere. The convergence set is Borel; its pointwise limit there, extended by zero on the complement, is a Borel map .
Minkowski [F3] gives, for , . Fatou's lemma [F3] as yields . Since has law , the same inequality at and Minkowski imply . Let , a Borel probability by [F7]. The map is Borel, so its pushforward is a Borel probability by [F7]; its marginals are the laws of and , namely and . Thus , and this joint law is a coupling, so The original Cauchy sequence converges to the same limit: for any , choose n large enough that the displayed tail bound is below and exceeds the Cauchy threshold for ; then for all sufficiently large m and apply the triangle inequality [F1].
The topology of W2 is narrow convergence plus uniform second-moment tails
Statement
Assume the Axiom of Choice. For , a sequence in indexed by positive integers, and , if and only if converges narrowly to and Tightness by itself is insufficient: for and , the sequence is tight and converges narrowly to , but for every .
Statement references
The Euclidean quadratic Wasserstein space
The quadratic Wasserstein distance is a metric
Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
The product measure of two sigma-finite measure spaces
Weak convergence of borel probability measures
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5
Facts & Assumptions
Given: AC, , a sequence indexed by positive integers, and a probability , all with finite second moments.
Under AC, each pair has an optimal coupling, and is the metric defined by the infimum of the quadratic coupling cost. The Euclidean quadratic Wasserstein space Optimal quadratic couplings exist and their cost is weakly lower semicontinuous The Axiom of Choice
Narrow convergence means convergence of integrals of every bounded continuous function; the portmanteau theorem gives convergence on every Borel set whose boundary has limit measure zero. Weak convergence of borel probability measures Portmanteau theorem
Finite Borel measures have product measures; for probability residuals, the product has those residuals as marginals. The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
Proof
Suppose . For each choose an optimal coupling and regard its coordinates as with laws . The cost gives . For bounded continuous , choose a ball with small. On the event and , both points lie in the compact ball , where is uniformly continuous. The complement has probability at most . First choose , then , and then ; the boundedness of shows . Thus .
Conversely suppose narrow convergence and the stated uniform tail condition. Fix . Choose so that the second-moment tails outside of all and of are less than ; the tail of vanishes because . Enlarge R slightly if necessary so its coordinate faces have zero -mass. Partition each coordinate interval by finitely many levels that are not atoms of the corresponding one-dimensional marginal of , with mesh small enough that each resulting rectangular cell has diameter at most . Such levels exist because each probability has at most countably many atoms. Together with , these cells form a finite Borel partition whose boundaries have -measure zero. By [F2], for each .
Write and . For , on either or . Since , for every , Given a target , first choose K so the first term is below ; then choose N so for ; then choose R>K so the middle term is below for all . The last term is below . Finally enlarge R so the finitely many tails for are below . This proves the required uniform tail limit.
For each bounded cell , match mass . If , take times the product of the probability measures and ; if , use the zero measure. This gives a coupling piece supported on with cost at most . Subtract its two marginals from and . The residual measures have equal mass. If that mass is positive, their normalized product, multiplied by that mass, couples them; if it is zero there is no residual piece. The sum is a coupling of . Its matched cost is at most . For the residual coupling, . Its residual second moments are bounded by the two tails outside plus on each side: inside a bounded cell, unmatched mass is exactly the positive part of the difference of its two cell masses. Therefore For this fixed finite partition the sum tends to zero, so . Letting proves .
For the witness, the mass outside a ball of radius is at most for indices and is zero for indices ; hence the family is tight. For bounded continuous , , proving narrow convergence. Every coupling with second marginal is concentrated on , so its cost is forced to be . The asserted failure of W2 convergence follows.
Metric derivatives of AC2 Wasserstein curves
Statement
Assume the Axiom of Choice. If and , then the metric derivative exists for almost every , is measurable and belongs to . For all , It is the least nonnegative square-integrable upper control: if and for all , then almost everywhere.
Statement references
The Euclidean quadratic Wasserstein space
Absolutely continuous curves of order two in Wasserstein space
The quadratic Wasserstein distance is a metric
Fundamental theorem of calculus for absolutely continuous functions
The indefinite integral of an function is differentiable almost everywhere
Holder's inequality for integrals, including the endpoint cases
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Ambrosio, Gigli, and Savaré, Gradient Flows, Theorem 1.1.2
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.2
Facts & Assumptions
Given: AC and a curve with an upper control .
A real absolutely continuous function on a compact interval is differentiable almost everywhere and equals its initial value plus the integral of its derivative; the indefinite integral of an function has derivative equal to that integrand almost everywhere. These scalar facts require Countable and Dependent Choice. Fundamental theorem of calculus for absolutely continuous functions The indefinite integral of an function is differentiable almost everywhere The Axiom of Countable Choice () The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain
AC implies the countable- and dependent-choice principles in [F1]. The Axiom of Choice AC implies DC implies countable choice
Holder on the finite interval gives from . Holder's inequality for integrals, including the endpoint cases
The Wasserstein distance satisfies the triangle inequality, hence the reverse triangle inequality for distance to a fixed point. The quadratic Wasserstein distance is a metric
Proof
Let together with . For each , set . The reverse triangle inequality and the assumed control give , so is absolutely continuous. By [F1], it has a derivative almost everywhere, and because by Holder, at common differentiability points of and , difference quotients give . Since is countable, outside one null set all these derivatives exist and are bounded by . Define there and set on the null set. Difference quotients along give measurable versions of the scalar derivatives, so is measurable; also almost everywhere and hence .
For any , continuity of the curve and density of imply The inequality from right to left is the reverse triangle inequality. For the other direction take with ; then and . For each q, [F1] and step 1.1 give . Taking the supremum proves .
The function is absolutely continuous, and [F1] gives almost everywhere. At a time t where is differentiable and every is differentiable, step 2.1 gives while gives a lower limit at least for every q. Taking the supremum yields a lower limit at least . Thus the metric derivative exists and equals almost everywhere. The interval bound and square integrability follow from step 2.1 and .
Let h be any other nonnegative upper control. Repeating the scalar difference-quotient bound of step 1.1 with h gives almost everywhere for each q. Countability of D lets these inequalities hold off a single null set, so there. By step 3.1, almost everywhere, proving leastness.
Gaussian regularization preserves finite-action continuity equations
Statement
Assume the Axiom of Choice. Let , , and let be a narrowly continuous finite-action solution of the continuity equation on , with space-time law . Put and . Then is measurable, is Borel and Lebesgue-null, and the Borel representative for and for agrees with -almost everywhere. For , let be the strictly positive centered Gaussian probability density with covariance , and define Then is a strictly positive smooth probability density for each , is narrowly continuous, is Borel and locally Lipschitz in with local magnitude and Lipschitz bounds integrable in time, and solves the continuity equation. For almost every ,
Statement references
Finite-action continuity equation in Euclidean space
A narrow probability curve defines its space-time measure
Tonelli's theorem for nonnegative measurable functions on a sigma-finite product
Fubini's theorem for L^1 functions on a sigma-finite product
Monotone convergence for the integral
Measurability of integration against a kernel
Standard normal and normal laws
The standard normal density has total mass one
Location-scale normal laws have their stated mean and variance
The product measure of two sigma-finite measure spaces
Holder's inequality for integrals, including the endpoint cases
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Closure properties of measurable functions used by the integral
Ambrosio, Gigli, and Savaré, Gradient Flows, Chapter 8
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC; , the probability curve , its Borel vector field , finite action, and the distributional continuity equation.
The space-time law is finite and integrates nonnegative Borel functions by time sections; in particular is measurable and integrable. A narrow probability curve defines its space-time measure Finite-action continuity equation in Euclidean space
The Gaussian kernel is strictly positive, smooth, has integral one and second moment . By differentiating its explicit density, each derivative has the form of a polynomial times the Gaussian, so every derivative is bounded and integrable. The d-dimensional law is the product of d one-dimensional normals. Standard normal and normal laws The standard normal density has total mass one Location-scale normal laws have their stated mean and variance The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
Kernel integration preserves Borel measurability; Tonelli and Fubini apply to the nonnegative and integrable convolution terms. Measurability of integration against a kernel Tonelli's theorem for nonnegative measurable functions on a sigma-finite product Fubini's theorem for L^1 functions on a sigma-finite product
Holder bounds first moments by second moments on finite probability spaces; monotone convergence applies to increasing nonnegative limits, and sums and scalar multiples of finite real measurable functions are measurable. Holder's inequality for integrals, including the endpoint cases Monotone convergence for the integral Closure properties of measurable functions used by the integral
Dominated convergence passes the cutoff limits through the space-time integrals. Dominated convergence
Proof
The Gaussian second moment is finite: in one dimension is bounded on and, outside it, is bounded by a constant times , which is integrable; product integration gives . Hence has finite second moment by . For bounded continuous f, is bounded and continuous by dominated convergence, so narrow continuity of gives narrow continuity of . By [F1], and is a Borel null set. Use from the statement; because -almost everywhere, the distributional equation and action are unchanged. Set for and on . Holder gives for every t and , so all integrals defining are finite for every t. By [F3], are Borel in . Positivity of and total mass one give . For every component i and real r, is Borel by the sum and scalar-multiple closure in [F4]. Hence each component of is Borel. For every spatial multi-index, the Gaussian derivative is bounded by [F2], so differentiation under the integral is justified for and for 's first derivatives by domination by a constant times . Thus is smooth in x and is continuously differentiable in x. Also by [F2] and Tonelli.
Fix a compact spatial ball K. Narrow continuity of and bounded continuity of each Gaussian derivative imply joint continuity of and its spatial derivatives in : for , , the spatial difference is uniformly bounded by a derivative bound times , and the remaining integral converges by narrow continuity. On the positive density therefore has a positive minimum. For every first spatial derivative, boundedness of the corresponding Gaussian derivative gives and . The quotient rule and the positive lower bound for p show that on K. The right side is time-integrable, proving the local magnitude and Lipschitz bounds required for the Carathéodory flow.
For every t, the probability measure averages to . Cauchy--Schwarz for this probability gives Integrate in x and use Tonelli and to obtain for every t; since -almost everywhere, this is the asserted a.e. action inequality.
Since -almost everywhere, the distributional continuity-equation identity also holds with . Let and set . This function and its derivatives decay rapidly in y, but are not compactly supported. Choose smooth cutoffs equal to one on , supported in , with , and apply the equation with to . As , dominated convergence [F5] sends the terms with to their uncut values: and are bounded, while is integrable against M by [F1]. The extra term tends to zero, bounded in absolute integral by . Thus Differentiating the convolution and integrating by parts in x gives . Fubini then rewrites the last identity as which is exactly the continuity equation for density and velocity .
Quadratic path energy is lower semicontinuous
Statement
Assume AC. Let and give the uniform topology. Define Then is lower semicontinuous. More precisely, where the supremum is over all finite partitions of .
Statement references
AC implies DC implies countable choice
The Axiom of Countable Choice ()
C_c(X) is dense in L^p(mu) for a Radon measure
Riesz-Fischer completeness of for
Riesz representation for Hilbert spaces
The indefinite integral of an function is differentiable almost everywhere
Minkowski's integral inequality
Ambrosio, Gigli, and Savaré, Gradient Flows, Chapter 8, §8.2
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC, , and a continuous path .
Under DC, continuous compactly supported functions are dense in for Lebesgue measure; uniform continuity approximates each continuous function uniformly by interval-step functions. C_c(X) is dense in L^p(mu) for a Radon measure Radon measure on an LCH space The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain
The real Hilbert space is complete and bounded linear functionals on it have unique Riesz representatives under Countable Choice. Riesz-Fischer completeness of for Riesz representation for Hilbert spaces The Axiom of Countable Choice ()
AC supplies Countable and Dependent Choice for [F1]–[F2] and the scalar Lebesgue FTC. The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice () The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain The indefinite integral of an function is differentiable almost everywhere
Cauchy--Schwarz holds for finite sums. Cauchy–Schwarz: , with equality exactly for dependent pairs
Proof
For a partition , write and set . If is absolutely continuous with square-integrable derivative, Cauchy--Schwarz [F4] on each interval gives .
Suppose . On interval-step functions for define . Refinement leaves this value unchanged, so the functional is well-defined. Cauchy--Schwarz for the finite sums gives By [F1], interval-step functions are dense in , so extends uniquely to a bounded linear functional on the real Hilbert space .
By [F2]–[F3], Riesz represents by some . Taking the step function equal to a fixed vector c on and zero elsewhere gives for every and every interval. Hence . The scalar FTC [F3] coordinatewise shows that is absolutely continuous and almost everywhere. Thus .
For this absolutely continuous path, the functional is integration against on interval-step functions. Since those functions are dense, its norm is ; for each fixed partition the squared norm of the restriction of to step functions constant on its intervals is exactly . Taking the supremum over partitions therefore gives . Conversely, steps 2.1–3.1 prove that finite C forces finite energy, so if then C is also infinite. Each is continuous in the uniform topology because it uses finitely many point evaluations; their supremum is lower semicontinuous.
Euclidean spaces admit a smooth compactly supported unit-mass bump
Statement
Assume Countable Choice. For every integer there is a nonnegative function with continuous partial derivatives of every order, support exactly , strictly positive on , and Lebesgue integral . Here the support is the closure of the set where the function is nonzero.
Statement references
Facts & Assumptions
Given: Countable Choice and an integer .
Countable Choice is assumed in the product-Lebesgue identification used in [F4]. The Axiom of Countable Choice ()
For every integer , as ; therefore a polynomial in times tends to zero. The exponential dominates every fixed nonnegative integer power at
The exponential is smooth and positive, and the chain and product rules differentiate its affine composites and finite products. The exponential function is smooth and The exponential is positive and satisfies The chain rule, in one line from Carathéodory: if is differentiable at and is differentiable at , then is differentiable at with Sums, scalar multiples, products and quotients: , , , and when
Under Countable Choice, the Lebesgue measure of a box is its side-length product; a continuous function on a compact interval is bounded, and the nonnegative integral is monotone and homogeneous. A box in with parameters is Lebesgue measurable of measure , whichever of its faces are included Extreme value theorem: a continuous real function on a nonempty compact subset of attains a greatest and a least value Monotonicity and nonnegative homogeneity of the nonnegative integral The Axiom of Countable Choice ()
Under Countable Choice, Euclidean Lebesgue measure on a finite product is the product of the coordinate Lebesgue measures, and Tonelli factors nonnegative product integrals. On Borel subsets of R^{m+n}, the product lambda_m times lambda_n agrees with lambda_{m+n} Tonelli's theorem for nonnegative measurable functions on a sigma-finite product The Axiom of Countable Choice ()
Proof
Define for and for . For each , repeated chain and product rules give on for a polynomial : it holds with , and if then differentiation replaces by the polynomial . By [F1], this derivative tends to as . Its difference quotient at is with , which also tends to by [F1]; from the left it is zero. Induction therefore gives every derivative at equal to and continuous there, so is smooth on .
Set . By [F2], is smooth. It vanishes for and is positive for , so its support is . Let . The extreme-value bound [F3] makes bounded on , so . Since , continuity gives with on ; [F3] gives . Hence is smooth, supported on , positive on , and has integral one.
Define . Repeated coordinatewise chain and product rules give every partial derivative as for its multi-index , so all partial derivatives are continuous. The function is nonnegative, vanishes outside , and is positive at every point of ; therefore its support is exactly that closed cube.
For , by step 2.1. By step 3.1, is a nonnegative Borel function supported in the compact cube. For , split . By [F4] and Tonelli, ; the second factor is by step 2.1. Induction on proves .
Smooth compactly supported tests are dense for finite Radon L2 measures
Statement
Assume Dependent Choice. Let be a finite Radon Borel measure on , where . Then is dense in .
Statement references
The Axiom of Countable Choice ()
Dependent choice implies countable choice
C_c(X) is dense in L^p(mu) for a Radon measure
Euclidean spaces admit a smooth compactly supported unit-mass bump
The mollifier family generated by a unit-mass smooth bump
Convolution with a mollifier is smooth, and derivatives pass under the integral sign
Ambrosio, Gigli, and Savaré, Gradient Flows, Chapter 8, §8.2
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: DC, a finite Radon measure on , and .
DC implies Countable Choice, as required by the mollifier smoothness supplier. The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain Dependent choice implies countable choice The Axiom of Countable Choice ()
There exists a smooth compactly supported function of unit Lebesgue integral; its rescalings form a mollifier family, and convolution of a continuous compactly supported function with a mollifier is smooth. Euclidean spaces admit a smooth compactly supported unit-mass bump The mollifier family generated by a unit-mass smooth bump Convolution with a mollifier is smooth, and derivatives pass under the integral sign
Proof
By [F1], given choose with . Extend g by zero on ; it is bounded and uniformly continuous. Let be the mollifier generated by [F3]. Since has compact support, for some its support is contained in , and by uniform continuity.
The function is smooth by [F2], and its support lies in the sum of the compact supports of g and , hence is compact. Since M is finite, Choose small enough that this is below (if is zero, every class is zero and the conclusion is immediate). The triangle inequality gives , proving density.
Local flows for time-measurable fields with integrable local bounds
Statement
Assume Countable Choice. Let , let , and let be Borel. Suppose that for every compact there are nonnegative such that for almost every , and for all . For each there is a unique maximal locally absolutely continuous solution of with , defined on an interval containing . Here locally absolutely continuous means absolutely continuous on every compact subinterval of , and maximal means that it has no locally absolutely continuous solution extension to a strictly larger interval in ; any maximal endpoint lying in can occur only if the trajectory leaves every compact subset of . If, in addition, is continuously differentiable for almost every and has integrable local bounds, then the set of initial points whose trajectories exist between any fixed pair of times is open, its time map is one-to-one onto an open image with both map and inverse continuously differentiable, and the path map into the uniform path space is continuous on the set of trajectories existing through the full interval. On compact flow tubes the dependence on the starting time is locally absolutely continuous and satisfies for almost every s, simultaneously for x in the tube. The spatial derivative satisfies , , almost everywhere.
Statement references
The Axiom of Countable Choice ()
Continuous -valued curves on a nonempty compact interval form a complete supremum-metric space
The indefinite integral of an function is differentiable almost everywhere
The second fundamental theorem: if is differentiable on with and is integrable, then
The chain rule for total derivatives:
Facts & Assumptions
Given: Countable Choice, the Borel field , its locally integrable magnitude bounds , its locally integrable Lipschitz bounds , and, for the flow-regularity clause, its almost-everywhere continuous spatial derivative with locally integrable bounds.
Continuous vector-valued curves on a compact interval form a complete space in the supremum norm; a contraction on a nonempty complete metric space has a unique fixed point. Continuous -valued curves on a nonempty compact interval form a complete supremum-metric space A contraction of a nonempty complete metric space into itself has exactly one fixed point, the limit of the iterates from any starting point
If is integrable, its indefinite integral is absolutely continuous by the indefinite-integral corollary, and has derivative almost everywhere under Countable Choice by the first Lebesgue FTC. Apply these scalar results componentwise for vectors and matrices. The indefinite integral of an function is absolutely continuous The indefinite integral of an function is differentiable almost everywhere The Axiom of Countable Choice ()
The one-variable FTC integrates the derivative of the C1 state map along a line segment. The second fundamental theorem: if is differentiable on with and is integrable, then
Dominated convergence applies to the matrix-valued coefficients bounded by an integrable local derivative bound. Dominated convergence
The derivative of a composition of differentiable maps is the composition of their derivatives. The chain rule for total derivatives:
Every locally integrable real function has its value as the limit of local averages almost everywhere; this applies simultaneously to a countable family under Countable Choice. Lebesgue differentiation theorem on The Axiom of Countable Choice ()
Under Countable Choice, an absolutely continuous scalar function maps every null set to a null set. Absolutely continuous functions have Luzin's property
Continuous images of compact real sets are compact; the measure of an increasing union of measurable sets is the supremum of their measures; a continuous real function takes every value between its endpoint values. The image of a compact subset of under a continuous real function is compact Continuity from below for measures Intermediate value theorem, by bisection with a canonical left-half rule: a continuous function on takes every value between and
Proof
Fix an initial pair and a closed ball . On a sufficiently short one-sided interval adjoining , absolute continuity of the integrals of gives and . On continuous curves taking values in , define with the oriented integral when J lies to the left of s. The integrand is measurable because is continuous and b is Borel; it is integrable because almost everywhere. The map preserves the closed sup-norm ball of radius r about the constant curve , and . By [F1] it has a unique fixed point. The integral FTC [F2] makes this curve absolutely continuous and a solution almost everywhere.
We first prove the scalar zero-derivative implication needed for uniqueness. Let be absolutely continuous with outside a null set containing the endpoints. For and , let consist of all such that whenever and . Continuity of makes closed: pass to the limit in this inequality for each fixed y with . These compact sets increase with n and cover . Partition into finitely many closed intervals of length less than . On each interval I, the compact image has diameter at most , so covering it by its smallest containing interval gives . By [F8], the increasing union of the compact images has measure at most , hence . Letting makes this image null; [F7] makes null as well. Thus the whole range of H is null, and the intermediate value theorem [F8] makes H constant. The singleton interval is immediate.
Any absolutely continuous solution Y on a compact interval with image in K satisfies its integral equation. Indeed, is measurable and bounded almost everywhere by , hence integrable. By [F2], is absolutely continuous and almost everywhere. Each component of is absolutely continuous by the finite-family definition (split a given tolerance between the two summands), and has derivative zero almost everywhere. Step 1.2 makes it constant. Therefore for every t, and subtraction gives the oriented version with any base time.
If two solutions have the same value at one time and remain in a compact K on a common compact interval, partition that interval into finitely many subintervals on which . By step 2.1 both satisfy their integral equations. On each subinterval beginning at a time where the solutions agree, these equations bound their sup-norm difference by times itself, so the difference is zero. Induction over the partition proves uniqueness throughout the common interval. Their compatible union therefore defines a unique maximal locally absolutely continuous solution: every compact subinterval of its domain is covered by finitely many local solution intervals, on which the integral equation holds. Suppose a maximal endpoint lies in and there are times with in a compact set K. Choose R with K contained in the ball , put , and take n large enough that . If the path first reaches the boundary of at some , it stays in on , so , while , a contradiction. Thus it stays in up to ; the same integrable bound makes it Cauchy there, and its finite limit lets step 1.1 extend it past , again a contradiction. Hence the path eventually leaves every compact set at an interior right maximal endpoint. Time reversal gives the same conclusion at an interior left maximal endpoint.
Assume the spatial derivative hypothesis. On a short interval and compact ball as in step 1.1, solutions from nearby initial points remain in a common compact ball. The contraction estimate gives . Write . The state-variable fundamental theorem of calculus [F3] gives Put at the almost-everywhere times where the spatial differential exists, with value zero on its exceptional time set. The matrix equation has a unique continuous solution by the contraction argument of step 1.1, since . Subtracting its product with h from the equation for gives Taking sup norms and absorbing the first term bounds the left side by . Thus ; dominated convergence in the same integral equation proves continuity of V in . The integral FTC [F2] yields almost everywhere. Repeating on a finite cover by overlapping short intervals gives dependence throughout each common flow domain and continuous dependence in the uniform path norm on trajectories existing through the full interval.
Uniqueness makes the time map from s to t injective. Continuous dependence makes its domain open; solving backward from time t shows its image is open and its inverse is the backward flow, which is by step 3.1. The chain rule [F5] says the derivative of the inverse times V is the identity. Thus the time map is a diffeomorphism between its open domain and image.
Fix a compact flow tube and a compact set K of states it visits. For a fixed target time t, choose a compact time interval J containing t and the varying start times, with all trajectories in the flow identity remaining in K. For trajectories with the same starting time, the integral equation gives ; iterating this inequality yields the spatial Lipschitz bound . For , the flow identity and the integral equation along the short backward segment give and , where the integral is over the unoriented interval. Hence . Summing over any disjoint adjacent intervals shows that is locally absolutely continuous, uniformly for x in the tube. To identify its derivative, choose a countable dense subset Q of K. Apply [F2] to the indefinite integrals of and each component of for ; their differentiability gives the corresponding one-sided interval averages at almost every s. By Countable Choice select exceptional null sets for this countable family, and take their union with the exceptional set for the spatial Lipschitz bound. Outside this union all these averages converge to the values at s; [F6] also gives the centered-average conclusion there after enlarging the null set. Approximation by q and the common Lipschitz bound show that the averages of over intervals shrinking to s converge to uniformly for . For the solution started at x at time , the magnitude bound gives uniformly between s and s+h at these Lebesgue points. Replacing by in the average contributes at most . The integral equation therefore gives uniformly on K. The flow identity and the spatial derivative from step 4.1 yield almost everywhere on the tube. The right side has the integrable local bound , consistent with and also giving the local absolute continuity.
Regularized continuity equations are represented by characteristic flows
Statement
Assume AC. Let be the Gaussian-regularized solution from the preceding lemma on , and write . There is a unique maximal local flow solving , . For -almost every x the path exists on all of , the map from x to its path is Borel on this full-measure domain, and for every ,
Statement references
Finite-action continuity equation in Euclidean space
Gaussian regularization preserves finite-action continuity equations
Local flows for time-measurable fields with integrable local bounds
Assuming countable choice, Borel probability measures on Polish spaces are inner regular
Fubini's theorem for L^1 functions on a sigma-finite product
Tonelli's theorem for nonnegative measurable functions on a sigma-finite product
Monotone convergence for the integral
Holder's inequality for integrals, including the endpoint cases
Euclidean spaces admit a smooth compactly supported unit-mass bump
The mollifier family generated by a unit-mass smooth bump
Convolution with a mollifier is smooth, and derivatives pass under the integral sign
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Ambrosio, Gigli, and Savaré, Gradient Flows, Chapter 8, §8.1 (characteristics and regularization)
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC, the positive smooth densities , the locally time-integrably Lipschitz vector field , its distributional continuity equation, and finite action.
The Gaussian-regularized pair has positive spatially smooth density, solves the continuity equation, and has finite action. Gaussian regularization preserves finite-action continuity equations
A Borel field with integrable local magnitude and Lipschitz bounds has a unique maximal local flow; its time maps are diffeomorphisms between their open domains and images, and an interior maximal endpoint requires escape from every compact set. Local flows for time-measurable fields with integrable local bounds
A finite Borel probability on a Polish space is inner regular; on a Euclidean open set, compactly supported continuous functions are uniformly approximated by smooth compactly supported functions by convolving their zero extensions with a unit-mass bump of sufficiently small support. Assuming countable choice, Borel probability measures on Polish spaces are inner regular Euclidean spaces admit a smooth compactly supported unit-mass bump The mollifier family generated by a unit-mass smooth bump Convolution with a mollifier is smooth, and derivatives pass under the integral sign
Tonelli and Fubini apply to the nonnegative action and integrable first-derivative terms; Holder bounds first moments by the square root of finite second action. Tonelli's theorem for nonnegative measurable functions on a sigma-finite product Fubini's theorem for L^1 functions on a sigma-finite product Holder's inequality for integrals, including the endpoint cases
AC supplies Countable Choice, so every Borel probability on a Polish space is inner regular; a nonzero finite Borel measure inherits this by normalization. An open is Polish: is a complete compatible metric, since a -Cauchy sequence has a Euclidean limit and bounded reciprocal distance prevents that limit from lying on ; the case uses its Euclidean metric. The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice () Assuming countable choice, Borel probability measures on Polish spaces are inner regular Polish spaces are separable completely metrizable spaces
Dominated convergence applies to sequences bounded by an integrable function on either finite measure. Dominated convergence
Monotone convergence passes increasing nonnegative truncations through the measures and time integral. Monotone convergence for the integral
Proof
Apply [F2] to and denote by the open set of initial points whose trajectories exist from time 0 through t, and by its open image. Fix and . For and , the set of states whose trajectories exist from r to t, define ; extend it by zero outside . Since is compactly contained in , its backward images form a compact subset of the flow domain. Thus has compact spatial support uniformly in r, is continuously differentiable in x, and is absolutely continuous in r locally. The start-time derivative from [F2] and the flow identity give almost everywhere.
For this fixed t define the restricted finite pushforward on by for Borel . The set is Borel because is continuous on the open domain ; preimages preserve disjoint unions, so is a finite Borel measure of mass . The weak continuity-equation identity extends from smooth compact tests to compactly supported tests that are in x and absolutely continuous in r with locally integrable time derivative: multiply by a time cutoff, convolve in time and space on a fixed compact neighborhood, and pass to the limit. The terms converge because is locally bounded, is locally integrable in time and space by finite action, and the test and its spatial gradient converge uniformly while its time derivative converges in . Apply this extension to from step 1.1 for every smooth compactly supported time cutoff . The transport equation leaves , so is constant on . Continuity of the flow and of extends the identity to r=0,t, giving for every . Uniform mollification extends equality to every ; both measures are finite, so uniform limits pass through their integrals. For a compact , choose n sufficiently large that the closed -neighborhood of K is compactly contained in and set . Then and , so [F6] gives . By [F5], both finite Borel measures on the Polish space are inner regular; their agreement on compact sets therefore proves .
For every , step 2.1 gives equality of the restricted finite measures on . Applying it to and letting by [F7] yields . Let . This domain is relatively open in and is continuous on it: cover any compact trajectory segment through by finitely many local flow neighborhoods from [F2] and patch their continuous dependence on the initial point; time continuity follows from the integral equation. Thus the integrand is Borel; extend it by zero off . Tonelli [F4] then gives Thus for -almost every x the path has finite squared speed integral up to its maximal endpoint. Holder then makes its total path length finite. Such a path is Cauchy at any finite endpoint; it cannot escape every compact set, contradicting [F2] if an endpoint lies in . At T it has a finite limit and extends continuously to T. Thus .
For each t, step 2.1 identifies with , where this restricted pushforward is the finite measure defined in step 2.1. Since and by step 3.1, . Hence , and the equality of restricted measures extends to all Borel subsets of . Because is open and is continuous there, extend to all of by setting it to zero off ; this is Borel and its pushforward is since . Thus . This proves the claim for every t, with the unique flow given by [F2].
Superposition for finite-action Euclidean continuity equations
Statement
Assume AC. Let and let be a narrowly continuous finite-action solution of the continuity equation on . There is a Borel probability law on such that for every , and for -almost every path , is absolutely continuous and for almost every . Its expected path action equals the Eulerian action:
Statement references
Finite-action continuity equation in Euclidean space
A narrow probability curve defines its space-time measure
Gaussian regularization preserves finite-action continuity equations
Regularized continuity equations are represented by characteristic flows
Quadratic path energy is lower semicontinuous
Prokhorov tightness theorem on polish spaces
Weakly convergent sequences are tight
Tight family of probability measures
Polish spaces are separable completely metrizable spaces
Ascoli–Arzelà in the uniform topology for nonempty compact metric domains
Continuous -valued curves on a nonempty compact interval form a complete supremum-metric space
C_c(X) is dense in L^p(mu) for a Radon measure
Smooth compactly supported tests are dense for finite Radon L2 measures
Assuming countable choice, Borel probability measures on Polish spaces are inner regular
Disintegration of a joint law on standard borel spaces
Finite products of standard Borel spaces are standard Borel
The product measure of two sigma-finite measure spaces
Random elements and real random variables
Law or distribution of a random element
The law of a random element is a probability measure
Change of variables for expectation
Measurability of integration against a kernel
Weak convergence of borel probability measures
Tonelli's theorem for nonnegative measurable functions on a sigma-finite product
Fubini's theorem for L^1 functions on a sigma-finite product
Holder's inequality for integrals, including the endpoint cases
Monotone convergence for the integral
Closure properties of measurable functions used by the integral
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Ambrosio, Gigli, and Savaré, Gradient Flows, Theorem 8.2.1
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC and the narrowly continuous finite-action solution .
For every , the regularized pair has a global flow representation and its flow paths satisfy almost everywhere. Gaussian regularization preserves finite-action continuity equations Regularized continuity equations are represented by characteristic flows
A family of probabilities on a Polish space is tight exactly when it is relatively sequentially compact under AC; every weakly convergent sequence of probabilities on a Polish space is tight. Prokhorov tightness theorem on polish spaces Tight family of probability measures Weakly convergent sequences are tight Polish spaces are separable completely metrizable spaces The Axiom of Choice
The path energy (infinite off paths) is nonnegative and lower semicontinuous on the uniform path space. Quadratic path energy is lower semicontinuous
Weak convergence is convergence of integrals against bounded continuous functions; monotone convergence passes increasing nonnegative integrals to the limit. Weak convergence of borel probability measures Monotone convergence for the integral
A Borel random element has a Borel probability law defined by pushforward; nonnegative path functionals integrate against that law by change of variables, and laws compose with Borel evaluation maps. Random elements and real random variables Law or distribution of a random element The law of a random element is a probability measure Change of variables for expectation
Under AC, disintegrating the law of over its standard-Borel marginal gives a Borel conditional probability kernel. Kernel integrals are measurable. Disintegration of a joint law on standard borel spaces Standard Borel spaces Finite products of standard Borel spaces are standard Borel Measurability of integration against a kernel The Axiom of Choice
Smooth compactly supported vector fields are dense in for the finite Radon space-time measure M. Smooth compactly supported tests are dense for finite Radon L2 measures Assuming countable choice, Borel probability measures on Polish spaces are inner regular Radon measure on an LCH space AC implies DC implies countable choice The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain
Products of finite measures, Tonelli and Fubini, and Holder's inequality justify the displayed path-space and space-time integrals. The product measure of two sigma-finite measure spaces For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique Tonelli's theorem for nonnegative measurable functions on a sigma-finite product Fubini's theorem for L^1 functions on a sigma-finite product Holder's inequality for integrals, including the endpoint cases
The time-space law M is a finite Borel measure with time marginal Lebesgue measure and section integral . A narrow probability curve defines its space-time measure
Borel probabilities on Polish spaces are inner regular, so compact sets can capture arbitrarily high mass. Assuming countable choice, Borel probability measures on Polish spaces are inner regular Polish spaces are separable completely metrizable spaces
Proof
Set . For each n, let be the Borel full--measure set of initial points whose regularized flow paths exist on all of . The map , , is Borel by [F1]. Extend it by the zero path off and define ; this is the law of a Borel random element and is a Borel probability. For every t, composition with evaluation gives by [F1]. The flow equation, the same marginal identity, and Tonelli give where . For every fixed t, : for bounded continuous f, first restrict y to a compact set carrying all but arbitrarily small -mass using [F8], then use uniform continuity of f on a one-neighborhood of that compact and concentration of the Gaussian kernels at zero.
The path space C with the uniform metric is Polish: it is complete by the continuous-curve completeness fact, and rational polygonal paths are countable and dense. By [F2], the sequence of initial laws is tight. Given , choose compact K with for all n, and choose R so . The set is closed by [F3] and compact by Arzela–Ascoli: its paths obey and . Markov's inequality, which follows from , gives . Thus is tight; [F2] gives a weakly convergent subsequence, still denoted , with Borel probability limit .
For each t, evaluation is continuous, so weak convergence and the marginal convergence imply . By [F3], is nonnegative and lower semicontinuous. For each integer k define . The triangle inequality makes k-Lipschitz, , and increases with k. If , lower semicontinuity gives a neighborhood of where ; outside that neighborhood the term exceeds a for all sufficiently large k. Thus . By [F9], weak convergence gives for every k. Monotone convergence [F9] yields . In particular -almost every path is absolutely continuous with square-integrable derivative.
Give the probability measure and define the Borel random element , setting the last coordinate to zero wherever the derivative limit is undefined. Measurability follows by expressing the derivative as the limit of measurable difference quotients; it agrees with the path derivative for -almost every pair. The law of Z has marginal by the time-marginal identity in step 2.1. Disintegrate with the velocity as the conditioned coordinate, and put where defined, zero otherwise. It is Borel by [F4]. Conditional Jensen and step 2.1 give The factor T cancels because uses normalized time.
Fix a smooth compactly supported vector field . For a finite partition of mesh h, set For every path, bounded derivatives of imply Indeed on each interval , while Cauchy--Schwarz gives and ; summing yields the bound. Its expectation is uniform over and by the action bound. For fixed P with N intervals, is continuous and . Pathwise Cauchy--Schwarz gives , so these sums have uniformly bounded second moments under and . Thus is uniformly integrable, and weak convergence plus bounded truncations gives . Letting h tend to zero proves convergence of the expected path integrals.
Under , the path derivative is ; hence its expected -pairing is . By the convolution definitions, since uniformly and by finite action and Holder. Combining with step 3.2 and the conditional-mean definition of b gives . Smooth-test density [F5] implies M-almost everywhere.
The time marginals of are , so . By step 3.1 the conditional mean of given is b, which equals v by step 4.1. Therefore The left side is nonnegative, so it is zero. Thus for -almost every pair, and the expected path action equals A. Together with the time marginals this is the claimed superposition law.
Finite-action continuity equations generate AC2 Wasserstein curves
Statement
Assume AC. Let and let be a narrowly continuous finite-action solution of the continuity equation on . Then belongs to and, for almost every ,
Statement references
Finite-action continuity equation in Euclidean space
Absolutely continuous curves of order two in Wasserstein space
The Euclidean quadratic Wasserstein space
Superposition for finite-action Euclidean continuity equations
Metric derivatives of AC2 Wasserstein curves
Minkowski's integral inequality
Borel probability law on a polish space
Change of variables for expectation
Ambrosio, Gigli, and Savaré, Gradient Flows, Theorem 8.3.1
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC and the narrowly continuous finite-action solution .
There is a probability law on whose time marginals are , whose almost every path is absolutely continuous with almost everywhere, and whose expected path action equals the Eulerian action. Superposition for finite-action Euclidean continuity equations
Minkowski's integral inequality bounds the norm of a time integral by the time integral of the norms. Minkowski's integral inequality
The metric derivative theorem identifies the least upper control of a Wasserstein curve with its metric derivative. Metric derivatives of AC2 Wasserstein curves
If is a Borel probability law on a Polish space and is Borel into a Polish space, define ; countable additivity and total mass one follow from preimages and the measure axioms, coordinate marginals compose with coordinate maps, and for nonnegative Borel h by change of variables for expectation. Borel probability law on a polish space Measures on sigma-algebras Change of variables for expectation
Proof
For , the evaluation map , , is continuous. Define for Borel ; by [F4] this is a Borel probability. Its coordinate marginals are and , so is a coupling. Its quadratic cost satisfies by [F4]. For -almost every path, absolute continuity gives . Minkowski [F2], applied with the path probability space and Lebesgue measure on , yields The marginal identity and the pathwise velocity identity in [F1] identify the inner integral for almost every r as . Put . Finite action gives , and the displayed bound for every interval implies W2-continuity and the defining upper-control inequality.
By [F3], the metric derivative exists almost everywhere and is no larger than any nonnegative upper control. Applying it to from step 1.1 gives almost everywhere, as claimed.
AC2 curves admit a unique minimum-action velocity field
Statement
Assume AC. Let and . There is a Borel vector field of finite action that solves the continuity equation and satisfies for almost every . Every other Borel finite-action solution of the same continuity equation obeys the pointwise Pythagorean identity for almost every . Consequently is the unique minimum-action velocity up to -null sets and where the minimum ranges over Borel finite-action fields solving the same continuity equation.
Statement references
The Euclidean quadratic Wasserstein space
Absolutely continuous curves of order two in Wasserstein space
Finite-action continuity equation in Euclidean space
A narrow probability curve defines its space-time measure
Metric derivatives of AC2 Wasserstein curves
Finite-action continuity equations generate AC2 Wasserstein curves
Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
Riesz representation for Hilbert spaces
Riesz-Fischer completeness of for
The indefinite integral of an function is differentiable almost everywhere
Fundamental theorem of calculus for absolutely continuous functions
Cauchy–Schwarz: , with equality exactly for dependent pairs
AC implies DC implies countable choice
The Axiom of Countable Choice ()
Real and complex inner-product spaces and their induced length
Holder's inequality for integrals, including the endpoint cases
Metric space: iff , symmetry, and the triangle inequality; pseudometric and ultrametric
Ambrosio, Gigli, and Savaré, Gradient Flows, Theorem 8.3.1 and §8.4
Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
Facts & Assumptions
Given: AC, the curve , its measurable metric speed , and its space-time measure .
The real space with inner product is a Hilbert space; the Hilbert-space Riesz representation theorem holds under Countable Choice, which follows from AC. Riesz-Fischer completeness of for Real and complex inner-product spaces and their induced length Hilbert space Riesz representation for Hilbert spaces The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice ()
For every pair an optimal coupling exists; its quadratic cost is . Optimal quadratic couplings exist and their cost is weakly lower semicontinuous
An absolutely continuous scalar function equals its initial value plus the integral of its derivative; its derivative is integrable almost everywhere. Fundamental theorem of calculus for absolutely continuous functions The indefinite integral of an function is differentiable almost everywhere The Axiom of Countable Choice () The axiom of dependent choice: a relation in which every element is related to something admits an -indexed chain
Dominated convergence passes integrable test limits through the space-time integrals. Dominated convergence
Holder's inequality gives . Holder's inequality for integrals, including the endpoint cases
Cauchy--Schwarz holds for the coupling and real Hilbert-space inner products. Cauchy–Schwarz: , with equality exactly for dependent pairs
A finite Borel measure on the space-time product has the stated section integral, and time marginal , so interval endpoints are -null. A narrow probability curve defines its space-time measure
A finite-action solution of the continuity equation has metric speed at most its instantaneous velocity norm. Finite-action continuity equations generate AC2 Wasserstein curves
Proof
We first prove the scalar transport estimate for . Put . If , the time increment of is bounded by , and its spatial increment under an optimal coupling is bounded by . The control therefore makes F absolutely continuous. At an interior time t where the metric derivative exists, use an optimal coupling of . Taylor's formula with bounded Hessian gives Cauchy--Schwarz and [F2] yield After division by , the remainder tends to zero and the first term tends to . The separate time increment converges to by narrow continuity and uniform convergence of the smooth time difference quotients. Hence almost everywhere. Since F vanishes near 0 and T, the absolutely-continuous FTC [F3] gives ; integrating the pointwise derivative inequality proves (1). Holder [F4] will be used for the right side.
Let be the closure in H of . Define . Estimate (1) and [F4] show . Thus if two tests have the same gradient in H their values agree; this defines a bounded linear functional on the gradient subspace and extends uniquely to . By [F1] and Riesz there is a unique with for all , and . Choose a Borel representative of this class. For every test , so v solves the continuity equation and has finite action.
Fix an interval I with rational endpoints in and let be the closure in of gradients of tests compactly supported in the interior of I. The restriction belongs to : approximate v by global test gradients, multiply each by smooth time cutoffs converging to , and use [F8] dominated convergence; the time marginal is Lebesgue, so the endpoints are null. For tests supported in I, represents the restricted functional . By (1), its norm is at most . Consequently for every rational interval I. Apply [F3] to the indefinite integral of : the interval inequalities make its values nonincreasing first on rational endpoints and then, by continuity of the indefinite integral, on all endpoints; its derivative is therefore nonpositive almost everywhere. Thus a.e. Applying [F6] to the solution v gives the reverse inequality. Hence equality holds almost everywhere.
Let w be any other Borel finite-action solution and put h=w-v. Subtracting the two weak equations gives for every test. Therefore on each rational interval I, h is orthogonal to ; step 3.1 has , so . The scalar integrand is in by Cauchy--Schwarz. Its indefinite integral has zero increments on all rational intervals and is therefore constant; [F3] makes the integrand zero almost everywhere. Thus a.e., and the Hilbert-space identity gives Integrating proves the minimum value and uniqueness up to -null sets.
4 · Examples, counterexamples and false statements
None yet.
Sources
- Filippo Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §§5.1–5.3
- Lénaïc Chizat and Francis Bach, On the Global Convergence of Gradient Descent for Over-parameterized Models using Optimal Transport, Appendix A.1, PDF pp. 12–13
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Theorem 1.1.2 and Chapter 8
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Chapter 1 and Chapter 8
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Theorem 1.1.2
- Filippo Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.2
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Chapter 8, §§8.1–8.2
- Filippo Santambrogio, Optimal Transport for Applied Mathematicians, Chapter 5, §5.3
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Chapter 8, §8.2
- MIT 18.102, Chapter 4, §9 Convolution, Lemma 58, printed pp. 136–137
- Christopher Heil, Absolute Continuity and the Banach–Zaretsky Theorem, Lemma 14, Corollaries 18 and 21, and Theorem 23
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Chapter 8, §8.1 (characteristics and regularization)
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Theorem 8.2.1
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Theorem 8.3.1
- Luigi Ambrosio, Nicola Gigli, and Giuseppe Savaré, Gradient Flows in Metric Spaces and in the Space of Probability Measures, Theorem 8.3.1 and §8.4