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Wasserstein metric and continuity-equation foundations

1 · Prerequisites

2 · Logical flowchart

3 · Definitions, theorems and proofs

DefinitionDefinition: Literature-sourcedProof: Not applicableOpen item page →

The Euclidean quadratic Wasserstein space

Definition

For an integer d≥1, let Rd have its Euclidean norm and Borel sigma-algebra. Define P2(Rd) to be the Borel probability measures μ with ∫∣x∣2 dμ(x)<∞. A coupling of μ,ν∈P2(Rd) is a Borel probability measure π on Rd×Rd whose first and second coordinate marginals are μ and ν; write Γ(μ,ν) for the set of couplings. Define W2(μ,ν)=(inf⁡π∈Γ(μ,ν)∫Rd×Rd∣x−y∣2 dπ(x,y))1/2.

Facts & Assumptions

Given: An integer d≥1 and μ,ν∈P2(Rd).

[F2]

For a nonnegative function on a product probability space, Tonelli identifies its integral with either iterated integral; ∣x−y∣2≤2∣x∣2+2∣y∣2. Tonelli's theorem for nonnegative measurable functions on a sigma-finite product Expectation of a nonnegative or integrable random variable

Proof

1.1givenF1

The product law μ⊗ν is a Borel probability on Rd×Rd with marginals μ,ν by [F1], so it belongs to Γ(μ,ν). Thus the coupling set in the definition is nonempty.

2.1givenF1F2step 1.1∎

By the inequality in [F2] and the finite second moments of μ,ν, Tonelli gives ∫∣x−y∣2d(μ⊗ν)≤2∫∣x∣2dμ+2∫∣y∣2dν<∞. 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.

DefinitionDefinition: Literature-sourcedProof: Not applicablejudge pass (gpt-6-luna)Open item page →

Absolutely continuous curves of order two in Wasserstein space

Definition

Fix T>0. A curve μ:[0,T]→P2(Rd) is absolutely continuous of order two, written μ∈AC2([0,T];P2), if it is continuous in W2 and there is a nonnegative Lebesgue-measurable g with ∫0Tg(t)2dt<∞ such that W2(μs,μt)≤∫stg(r)dr for every 0≤s≤t≤T. At an interior time t where the limit exists, the metric derivative is ∣μ˙t∣=lim⁡h→0W2(μt+h,μt)/∣h∣; no endpoint derivative is required.

LemmaStatement: Literature-sourcedProof: AI-adaptedjudge pass (gpt-6-luna)Open item page →

A narrow probability curve defines its space-time measure

Statement

Let T>0 and let t↦μt be a narrowly continuous curve of Borel probability measures on Rd, where narrow continuity means convergence against every bounded continuous real test function. For a product-Borel set E⊆[0,T]×Rd, write Et={x:(t,x)∈E} and define M(E)=∫0Tμt(Et)dt. Then t↦μt is a probability kernel, M is a finite Borel measure of total mass T, and for every nonnegative product-Borel f, ∫f dM=∫0T∫f(t,x)dμt(x)dt.

Statement references

Facts & Assumptions

Given: T>0 and a narrowly continuous curve (μt)t∈[0,T] of Borel probability measures on Rd.

[F1]

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

[F2]

Narrow convergence of Borel probabilities implies the open-set lower bound μ(G)≤lim inf⁡nμn(G) for every open G. Portmanteau theorem

[F3]

A lambda-system containing a pi-system contains the sigma-algebra it generates. Dynkin's pi-lambda theorem

[F4]

A probability kernel has a probability measure in every section and measurable evaluations in its source variable. Measure kernel and probability kernel

[F5]

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

[F6]

Sections of product-measurable sets are measurable. Every section of a product-measurable set is measurable

[F7]

For a probability kernel K and a nonnegative product-measurable function f, s↦∫f(s,t)K(s,dt) is measurable. Measurability of integration against a kernel

[F8]

Increasing limits pass through nonnegative Lebesgue integrals. Monotone convergence for the integral

[F9]

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

[F10]

A measure is zero on the empty set and countably additive on disjoint measurable unions. Measures on sigma-algebras

Proof

technique · direct
1.1givenF2

Let G⊆Rd be open and let tn→t. Narrow continuity gives μtn⇒μt, so [F2] gives μt(G)≤lim inf⁡nμtn(G). Thus t↦μt(G) is lower semicontinuous and hence Borel measurable.

2.1givenF1F3F4F9step 1.1

Let D be the Borel sets A⊆Rd for which t↦μt(A) is measurable. It contains the whole space because each section is a probability. If A∈D, then μt(Ac)=1−μt(A), so Ac∈D. For pairwise disjoint Aj∈D, countable additivity gives μt(⋃jAj)=lim⁡N→∞∑j=0Nμt(Aj), a measurable increasing limit. Hence D is a lambda-system. The open sets form a pi-system generating the Borel sigma-algebra and belong to D by step 1.1, so [F3] and [F9] give D=B(Rd). Together with [F4], this proves that t↦μt is a probability kernel.

3.1F5F6F7step 2.1

By [F5], a product-Borel set E is measurable for B([0,T])⊗B(Rd). Its sections Et are Borel by [F6]. Since t↦μt is a probability kernel by step 2.1, [F7] applied to 1E shows that t↦μt(Et) is measurable. Thus M(E)=∫0Tμt(Et)dt is defined; M(∅)=0 and M([0,T]×Rd)=∫0T1dt=T.

4.1F1F8F9F10step 3.1∎

If Ej are disjoint product-Borel sets, their sections are disjoint and μt((⋃jEj)t)=∑jμt((Ej)t). Integrating the increasing partial sums and using [F8] gives M(⋃jEj)=∑jM(Ej); with step 2.1 this makes M a finite Borel measure. For an indicator, the iterated-integral formula is the definition of M; finite nonnegative simple combinations give it for simple functions. For arbitrary nonnegative product-Borel f, use [F9] to choose sn↑f and apply [F8] to both M and the time-section integrals. This proves ∫f dM=∫0T∫f(t,x)dμt(x)dt.

DefinitionDefinition: Literature-sourcedProof: Not applicablejudge pass (gpt-6-luna)Open item page →

Finite-action continuity equation in Euclidean space

Definition

Fix T>0 and an integer d≥1. Let t↦μt be a narrowly continuous curve in P2(Rd) (so t↦∫f dμt is continuous for every bounded continuous f), let M be its space-time measure M(dt,dx)=dt μt(dx), and let v:[0,T]×Rd→Rd be Borel. Its squared action is A(μ,v)=∫∣v(t,x)∣2dM(t,x). If A(μ,v)<∞, say that v solves the continuity equation for μ when ∫0T ⁣∫Rd(∂tφ(t,x)+∇xφ(t,x)⋅v(t,x)) dμt(x) dt=0 for every φ∈Cc∞((0,T)×Rd). This is the distributional meaning of ∂tμt+∇⋅(vtμt)=0; the continuous representative fixes the endpoint laws.

LemmaStatement: Literature-sourcedProof: AI-adaptedjudge pass (gpt-6-luna)Open item page →

Gluing two Euclidean couplings

Statement

Assume the Axiom of Choice. Let d1,d2,d3≥1, let α be a Borel probability on Rd1×Rd2 and β a Borel probability on Rd2×Rd3, and suppose the second marginal of α and first marginal of β are the same probability ρ on Rd2. There is a Borel probability γ on Rd1×Rd2×Rd3 whose (x,y) marginal is α and whose (y,z) marginal is β.

Statement references

Diagram

In the diagram, X=Rd1, Y=Rd2, and Z=Rd3. It records the required projections from the joint law γ onto the adjacent coordinate pairs. The arrows are pushforwards of γ; the proof below constructs the middle measure explicitly and does not infer existence from the picture.

\begin{tikzpicture}[>=stealth] \node (alpha) at (0,0) {α on X×Y}; \node (gamma) at (3.5,0) {γ on X×Y×Z}; \node (beta) at (7,0) {β on Y×Z}; \draw[->] (gamma) -- node[above] {(x,y)#} (alpha); \draw[->] (gamma) -- node[above] {(y,z)#} (beta); \end{tikzpicture}

The two outer laws have the same middle marginal ρ on Y; 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 ρ.

[F1]

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

[F2]

Under AC The Axiom of Choice, a probability on a product of standard Borel spaces with second marginal ρ disintegrates as Ky(dx)ρ(dy) for a probability kernel K, with the specified joint law recovered by integrating the kernel. Disintegration of a joint law on standard borel spaces

[F3]

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

[F4]

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

[F5]

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

[F6]

Monotone convergence passes increasing nonnegative integrands through integrals; probability measures are countably additive. Monotone convergence for the integral Measures on sigma-algebras

[F7]

If P is a Borel probability law on a Polish space and S is Borel into a Polish space, define S#P(H)=P(S−1(H)); 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

1.1givenF1F2F7

Apply [F2] to α with its second coordinate y as conditioning variable, obtaining a probability kernel Ky(dx) with α(A×B)=∫BKy(A)dρ(y). The supplier conditions on the second marginal, so for β first define the coordinate swap S(y,z)=(z,y) and β^=S#β on Rd3×Rd2. By [F7], this is a Borel probability whose second marginal is the common law ρ. Apply [F2] to β^ to obtain a probability kernel Ly(dz) with β^(C×B)=∫BLy(C)dρ(y), equivalently β(B×C)=∫BLy(C)dρ(y). Thus for every Borel A⊆Rd1, B⊆Rd2, and C⊆Rd3 both joint laws are disintegrated over the same conditioning law.

2.1F1F3F4F5step 1.1

For each y, let Qy=Ky⊗Ly, the product probability on Rd1×Rd3. For a rectangle A×C, Qy(A×C)=Ky(A)Ly(C) is measurable in y. The sets D for which y↦Qy(D) is measurable form a lambda-system: the whole space has value one, complements have value 1−Qy(D), 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 D. The same lambda-system argument applied to rectangles B×A×C in the variables (y,x,z) shows that y↦Qy(Ey) is measurable for each Borel E⊆Rd2×Rd1×Rd3, where Ey={(x,z):(y,x,z)∈E}.

3.1F3F5F6step 2.1

Define γ~(E)=∫Qy(Ey) dρ(y) on the product Borel sigma-algebra in the coordinate order (y,x,z). It is nonnegative and has total mass one. For disjoint Ej, their sections are disjoint, so countable additivity of Qy followed by monotone convergence [F6] gives γ~(⋃jEj)=∑jγ~(Ej). Hence γ~ is a Borel probability.

4.1F1F2F4F7step 1.1step 3.1∎

For Borel rectangles B×A×Rd3 and B×Rd1×C, the definition and the two identities in step 1.1 give respectively γ~(B×A×Rd3)=∫BKy(A)Ly(Rd3) dρ(y)=α(A×B) and γ~(B×Rd1×C)=∫BLy(C)Ky(Rd1) dρ(y)=β(B×C). Rectangles determine finite Borel measures by [F4], so these identities identify the two pair marginals in coordinate order (y,x,z). Define the Borel coordinate permutation P(y,x,z)=(x,y,z) and set γ=P#γ~, meaning γ(H)=γ~(P−1(H)) for each Borel H; by [F7] this is a Borel probability. The coordinate projections satisfy pr⁡x,y∘P(y,x,z)=(x,y) and pr⁡y,z∘P(y,x,z)=(y,z), hence their pushforwards are exactly α and β.

PropositionStatement: Literature-sourcedProof: AI-adaptedOpen item page →

Optimal quadratic couplings exist and their cost is weakly lower semicontinuous

Statement

Assume the Axiom of Choice. For every pair μ,ν∈P2(Rd), the infimum of ∫∣x−y∣2dπ(x,y) over couplings π of μ and ν is finite and is attained. If μn,νn,μ,ν∈P2(Rd), μn converges narrowly to μ, and νn converges narrowly to ν, then W2(μ,ν)2≤lim inf⁡n→∞W2(μn,νn)2.

Statement references

Facts & Assumptions

Given: AC; for the attainment claim, μ,ν∈P2(Rd); for the lower-semicontinuity claim, μn,νn,μ,ν∈P2(Rd) with narrowly convergent sequences μn⇒μ and νn⇒ν.

[F2]

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 (ACω)

[F3]

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

[F4]

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

[F5]

The product coupling has finite quadratic cost because ∣x−y∣2≤2∣x∣2+2∣y∣2 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

1.1givenF1F5

The product probability μ⊗ν is a coupling by [F1]. The inequality in [F5] gives its cost at most 2∫∣x∣2dμ+2∫∣y∣2dν<∞. Thus the coupling set is nonempty and its cost infimum c is finite and nonnegative.

2.1givenF1F2F3step 1.1

For each integer n≥1, by AC choose a coupling πn with ∫∣x−y∣2dπn≤c+1/n. Their marginals are the fixed probabilities μ,ν. For any ε>0, tightness of each marginal supplies compact sets K1,K2 with μ(K1c)<ε/2 and ν(K2c)<ε/2. Then πn((K1×K2)c)≤μ(K1c)+ν(K2c)<ε for every n. Hence (πn) is tight on the Polish space R2d; [F2] gives a subsequence πnj⇒π. By [F3] its marginals are μ,ν.

3.1F1F3F4step 2.1

For N≥1, the function cN(x,y)=min⁡{∣x−y∣2,N} is bounded and continuous. Weak convergence therefore gives ∫cNdπ=lim⁡j∫cNdπnj≤lim inf⁡j∫∣x−y∣2dπnj≤c. Letting N↑∞ and using [F4] yields ∫∣x−y∣2dπ≤c. Since π is a coupling and c is the infimum, equality holds; the infimum is attained.

4.1givenF1F2F3F4step 2.1∎

Put L=lim inf⁡nW2(μn,νn)2. If L=+∞, the asserted inequality is immediate. Otherwise choose a subsequence indexed by integers j≥1, denoted nj, along which the costs converge to L, and choose by AC couplings σj with costs at most W2(μnj,νnj)2+1/j. 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 (σj) is tight on R2d. A further subsequence converges weakly to a probability σ, whose marginals are μ,ν by [F3]. For every N, bounded continuity of cN gives ∫cNdσ≤L. Monotone convergence [F4] then gives ∫∣x−y∣2dσ≤L. The definition of W2 and the coupling property imply W2(μ,ν)2≤L.

TheoremStatement: Literature-sourcedProof: AI-adaptedjudge pass (gpt-6-luna)Open item page →

The quadratic Wasserstein distance is a metric

Statement

Assume the Axiom of Choice. For every integer d≥1, the function W2 defined on P2(Rd) is a metric: for all μ,ν,λ∈P2(Rd) it is finite and nonnegative, W2(μ,ν)=0 exactly when μ=ν, W2(μ,ν)=W2(ν,μ), and W2(μ,λ)≤W2(μ,ν)+W2(ν,λ).

Facts & Assumptions

Given: AC and μ,ν,λ∈P2(Rd).

[F2]

Given couplings of μ with ν and ν with λ, under AC there is a joint law of (X,Y,Z) with those two pair marginals. Gluing two Euclidean couplings The Axiom of Choice

[F3]

The scalar L2 Minkowski inequality holds, including finite sums; applied to the nonnegative functions ∣x−y∣ and ∣y−z∣, it combines with the pointwise Euclidean triangle inequality. Minkowski's integral inequality

[F4]

If P is a Borel probability law on a Polish space and F is Borel into a Polish space, define F#P(B)=P(F−1(B)); preimages make this a Borel probability law, coordinate marginals compose with coordinate maps, and ∫h d(F#P)=∫h(F) dP 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

1.1givenF1F4

The product coupling has finite cost by [F1], so W2 is finite and nonnegative. The diagonal map Δ(x)=(x,x) is Borel, and its pushforward Δ#μ is a Borel probability by [F4]. Its two coordinate marginals are (pr⁡i∘Δ)#μ=μ, and its cost is ∫∣Δ(x)1−Δ(x)2∣2dμ(x)=0 by [F4], hence W2(μ,μ)=0. The coordinate swap S(x,y)=(y,x) is Borel; for every coupling π of μ,ν, [F4] shows S#π is a probability with first marginal ν and second marginal μ, while its cost is ∫∣S(x,y)1−S(x,y)2∣2dπ=∫∣x−y∣2dπ by [F4]. Since S is its own inverse, this correspondence is onto and preserves costs, proving equality of the two infima.

2.1givenF1step 1.1

If W2(μ,ν)=0, choose an optimal coupling π using [F1]. Its integral of ∣x−y∣2 is zero. For each positive integer k, the set {∣x−y∣≥1/k} has π-measure zero, since its contribution to the integral is at least k−2 times its measure. Their union is the complement of the diagonal, so π is concentrated on the diagonal. For every Borel set A, both coordinate indicators agree π-almost everywhere, giving μ(A)=π(A×Rd)=π(Rd×A)=ν(A). Conversely, if μ=ν, step 1.1 gives distance zero.

3.1givenF1F2F3F4step 1.1step 2.1∎

Choose optimal couplings π12 of (μ,ν) and π23 of (ν,λ) using [F1]. Glue them by [F2] to obtain a Borel probability γ on R3d. The Borel projection Q(x,y,z)=(x,z) has pushforward Q#γ a Borel probability by [F4]; its coordinate marginals are μ and λ, so it is a coupling. By [F4] its cost is ∫∣u−v∣2d(Q#γ)(u,v)=∫∣x−z∣2dγ(x,y,z). Pointwise, ∣x−z∣≤∣x−y∣+∣y−z∣; applying [F3] on (R3d,γ) gives W2(μ,λ)≤(∫∣x−z∣2dγ)1/2≤W2(μ,ν)+W2(ν,λ). This proves the triangle inequality and all metric axioms.

TheoremStatement: Literature-sourcedProof: AI-adaptedOpen item page →

The quadratic Wasserstein space is complete

Statement

Assume the Axiom of Choice. The metric space (P2(Rd),W2) is complete: every W2-Cauchy sequence converges in W2 to an element of P2(Rd).

Statement references

Facts & Assumptions

Given: AC and a W2-Cauchy sequence (μn)n≥1 in P2(Rd).

[F1]

The function W2 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

[F3]

Scalar Minkowski's inequality holds in L2; for Euclidean-valued U,V, the pointwise triangle inequality gives ∣U+V∣≤∣U∣+∣V∣, so scalar Minkowski applied to ∣U∣,∣V∣ gives ∥U+V∥2≤∥U∥2+∥V∥2. 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: ∣⟨x,y⟩∣≤∥x∥ ∥y∥, with equality exactly for dependent pairs Fatou's lemma

[F4]

Integrals of increasing nonnegative functions converge to the integral of their pointwise limit; pushforward integration satisfies ∫f d(T#η)=∫f(T(ω))dη(ω) for nonnegative measurable f. Monotone convergence for the integral Change of variables for expectation Expectation of a nonnegative or integrable random variable

[F6]

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

[F7]

If P is a Borel probability law on a Polish space and F is Borel into a Polish space, define F#P(B)=P(F−1(B)); 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

1.1givenF1construct

For each integer k≥1, the Cauchy property gives a threshold N_k such that W2(μn,μm)<2−k whenever n,m≥Nk. Set n1=N1 and recursively nk+1=max⁡{Nk+1,nk+1}. Then nk<nk+1 and W2(μnk,μnk+1)≤2−k. By AC choose an optimal coupling πk of these consecutive laws for each k using [F1].

1.2def. Polish space

Put S=(Rd){1,2,…}, the set of sequences of Euclidean vectors indexed by positive integers, and equip S with D(x,y)=∑j≥12−jmin⁡(1,∣xj−yj∣). 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.

2.1F1F7step 1.1

Set Q1=π1, the probability on the first two coordinates. For N≥2, assume QN−1 is a probability on coordinates 1,…,N with adjacent pair marginals π1,…,πN−1 and last marginal μnN. Regard it as a law on Rd(N−1)×Rd, and regard πN as a law on Rd×Rd; they have the common second/first marginal μnN. The gluing statement [F1] gives QN on coordinates 1,…,N+1 preserving all earlier adjacent marginals and adding πN. Let IN:(Rd)N+1→S send (x1,…,xN+1) to (x1,…,xN+1,0,0,…); this map is continuous for the product topology. Define ηN=(IN)#QN, that is, ηN(B)=QN(IN−1(B)) for Borel B⊂S. By [F7] it is a Borel probability, and its first N+1 coordinates have law QN while every later coordinate equals zero.

2.2F2F5step 1.2

The jth marginal of any ηN is either μnj (when N+1≥j) or δ0. Each fixed probability μnj is tight by [F2]; AC chooses a compact Kj⊂Rd containing zero with μnj(Kjc)<ε2−j−1. Countable subadditivity gives ηN((∏jKj)c)≤∑j≥1ε2−j−1<ε for every N. The product K=∏jKj is compact in S: 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 (ηN) is tight. By [F2] and Prokhorov, a subsequence converges weakly to a probability η on S.

3.1F2F3F4F6F7step 1.1step 2.2

For fixed k, all sufficiently late ηN have their (k,k+1) coordinate marginal equal to πk. The coordinate projection S→R2d is continuous, so the projected laws of ηN converge weakly to the corresponding marginal of η; because they are eventually exactly πk, uniqueness of weak limits [F6] shows that this marginal is πk. Let Xk(x)=xk be the coordinate maps on (S,η). By [F4] and the pair marginal identity, ∫S∣Xk+1−Xk∣2dη=∫∣x−y∣2dπk=W2(μnk,μnk+1)2≤4−k. Therefore ∫∣Xk+1−Xk∣dη≤2−k by Cauchy–Schwarz. Monotone convergence [F4] shows ∫∑k∣Xk+1−Xk∣dη≤∑k2−k<∞, 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 X∞:S→Rd.

4.1F1F3F4F7step 3.1∎

Minkowski [F3] gives, for m>n, ∥Xm−Xn∥L2(η)≤∑k=nm−1∥Xk+1−Xk∥2≤∑k=nm−12−k. Fatou's lemma [F3] as m→∞ yields ∥X∞−Xn∥2≤∑k=n∞2−k. Since X1 has law μn1∈P2, the same inequality at n=1 and Minkowski imply ∫∣X∞∣2dη<∞. Let μ∞=(X∞)#η, a Borel probability by [F7]. The map x↦(Xn(x),X∞(x)) is Borel, so its pushforward is a Borel probability by [F7]; its marginals are the laws of Xn and X∞, namely μnn and μ∞. Thus μ∞∈P2, and this joint law is a coupling, so W2(μnn,μ∞)≤∥Xn−X∞∥2≤∑k=n∞2−k⟶0. The original Cauchy sequence converges to the same limit: for any ϵ>0, choose n large enough that the displayed tail bound is below ϵ/2 and nn exceeds the Cauchy threshold for ϵ/2; then W2(μm,μnn)<ϵ/2 for all sufficiently large m and apply the triangle inequality [F1].

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The topology of W2 is narrow convergence plus uniform second-moment tails

Statement

Assume the Axiom of Choice. For d≥1, a sequence (μn)n≥1 in P2(Rd) indexed by positive integers, and μ∈P2(Rd), W2(μn,μ)→0 if and only if μn converges narrowly to μ and lim⁡R→∞sup⁡n≥1∫{∣x∣>R}∣x∣2dμn(x)=0. Tightness by itself is insufficient: for e1=(1,0,…,0) and μn=(1−n−2)δ0+n−2δne1, the sequence is tight and converges narrowly to δ0, but W2(μn,δ0)=1 for every n.

Facts & Assumptions

Given: AC, d≥1, a sequence (μn)n≥1 indexed by positive integers, and a probability μ, all with finite second moments.

[F1]

Under AC, each pair has an optimal coupling, and W2 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

[F2]

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

[F3]

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

1.1givenF1F2

Suppose W2(μn,μ)→0. For each n choose an optimal coupling πn and regard its coordinates as Xn,Y with laws μn,μ. The cost gives ∫∣Xn−Y∣2dπn→0. For bounded continuous φ, choose a ball B(0,K) with μ(B(0,K)c) small. On the event ∣Y∣≤K and ∣Xn−Y∣≤δ<1, both points lie in the compact ball B‾(0,K+1), where φ is uniformly continuous. The complement has probability at most μ(B(0,K)c)+δ−2∫∣Xn−Y∣2dπn. First choose K, then δ, and then n; the boundedness of φ shows ∫φdμn−∫φdμ→0. Thus μn⇒μ.

1.2givenF2

Conversely suppose narrow convergence and the stated uniform tail condition. Fix ε>0. Choose R so that the second-moment tails outside Q=[−R,R]d of all μn and of μ are less than ε; the tail of μ vanishes because μ∈P2. Enlarge R slightly if necessary so its coordinate faces have zero μ-mass. Partition each coordinate interval [−R,R] by finitely many levels that are not atoms of the corresponding one-dimensional marginal of μ, with mesh small enough that each resulting rectangular cell has diameter at most ε. Such levels exist because each probability has at most countably many atoms. Together with Qc, these cells form a finite Borel partition (Ci)i=0N whose boundaries have μ-measure zero. By [F2], an,i:=μn(Ci)→ai:=μ(Ci) for each i.

2.1givenF1step 1.1

Write Zn=Xn−Y and an=∫∣Zn∣2dπn→0. For R>K, on {∣Xn∣>R} either ∣Y∣>K or ∣Zn∣>R−K. Since ∣Xn∣2≤2∣Y∣2+2∣Zn∣2, for every n, ∫∣Xn∣>R∣Xn∣2dπn≤2∫∣Y∣>K∣Y∣2dπn+2K2an(R−K)2+2an. Given a target η>0, first choose K so the first term is below η/4; then choose N so an<η/8 for n≥N; then choose R>K so the middle term is below η/8 for all n≥N. The last term is below η/4. Finally enlarge R so the finitely many tails for n<N are below η. This proves the required uniform tail limit.

2.2F2F3step 1.2

For each bounded cell Ci⊂Q, match mass rn,i=min⁡(an,i,ai). If rn,i>0, take rn,i times the product of the probability measures μn∣Ci/an,i and μ∣Ci/ai; if rn,i=0, use the zero measure. This gives a coupling piece supported on Ci×Ci with cost at most ε2rn,i. Subtract its two marginals from μn and μ. 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 πn of μn,μ. Its matched cost is at most ε2. For the residual coupling, ∣x−y∣2≤2∣x∣2+2∣y∣2. Its residual second moments are bounded by the two tails outside Q plus dR2∑i=1N∣an,i−ai∣ on each side: inside a bounded cell, unmatched mass is exactly the positive part of the difference of its two cell masses. Therefore W2(μn,μ)2≤∫∣x−y∣2dπn≤ε2+4ε+4dR2∑i=1N∣an,i−ai∣. For this fixed finite partition the sum tends to zero, so lim sup⁡nW2(μn,μ)2≤ε2+4ε. Letting ε↓0 proves W2(μn,μ)→0.

3.1F1F2step 1.2∎

For the witness, the mass outside a ball of radius R is at most n−2 for indices n>R and is zero for indices n≤R; hence the family is tight. For bounded continuous φ, ∫φdμn=(1−n−2)φ(0)+n−2φ(ne1)→φ(0), proving narrow convergence. Every coupling with second marginal δ0 is concentrated on Rd×{0}, so its cost is forced to be ∫∣x∣2dμn=1. The asserted failure of W2 convergence follows.

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Metric derivatives of AC2 Wasserstein curves

Statement

Assume the Axiom of Choice. If T>0 and μ∈AC2([0,T];P2(Rd)), then the metric derivative ∣μ˙t∣=lim⁡h→0W2(μt+h,μt)∣h∣ exists for almost every t∈(0,T), is measurable and belongs to L2(0,T). For all 0≤s≤t≤T, W2(μs,μt)≤∫st∣μ˙r∣dr. It is the least nonnegative square-integrable upper control: if g∈L2(0,T) and W2(μs,μt)≤∫stg(r)dr for all s≤t, then ∣μ˙t∣≤g(t) almost everywhere.

Facts & Assumptions

Given: AC and a curve μ∈AC2([0,T];P2(Rd)) with an L2 upper control g.

[F1]

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 L1 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 L1 function is differentiable almost everywhere The Axiom of Countable Choice (ACω) The axiom of dependent choice: a relation in which every element is related to something admits an N-indexed chain

[F2]

AC implies the countable- and dependent-choice principles in [F1]. The Axiom of Choice AC implies DC implies countable choice

[F4]

Holder on the finite interval gives g∈L1(0,T) from g∈L2(0,T). Holder's inequality for integrals, including the endpoint cases

[F3]

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

1.1givenF1F2F3F4

Let D=Q∩[0,T] together with 0,T. For each q∈D, set fq(t)=W2(μt,μq). The reverse triangle inequality and the assumed control give ∣fq(t)−fq(s)∣≤∫stg(r)dr, so fq is absolutely continuous. By [F1], it has a derivative almost everywhere, and because g∈L1 by Holder, at common differentiability points of fq and G(t)=∫0tg(r)dr, difference quotients give ∣fq′(t)∣≤g(t). Since D is countable, outside one null set all these derivatives exist and are bounded by g. Define m(t)=sup⁡q∈D∣fq′(t)∣ there and set m=0 on the null set. Difference quotients along h=1/n give measurable versions of the scalar derivatives, so m is measurable; also 0≤m≤g almost everywhere and hence m∈L2(0,T).

2.1F1F3step 1.1

For any s,t, continuity of the curve and density of D imply W2(μs,μt)=sup⁡q∈D∣fq(t)−fq(s)∣. The inequality from right to left is the reverse triangle inequality. For the other direction take qj∈D with qj→s; then fqj(s)→0 and fqj(t)→W2(μt,μs). For each q, [F1] and step 1.1 give ∣fq(t)−fq(s)∣≤∫st∣fq′(r)∣dr≤∫stm(r)dr. Taking the supremum proves W2(μs,μt)≤∫stm(r)dr.

3.1F1step 1.1step 2.1

The function H(t)=∫0tm(r)dr is absolutely continuous, and [F1] gives H′(t)=m(t) almost everywhere. At a time t where H is differentiable and every fq is differentiable, step 2.1 gives lim sup⁡h→0W2(μt+h,μt)∣h∣≤m(t), while W2(μt+h,μt)≥∣fq(t+h)−fq(t)∣ gives a lower limit at least ∣fq′(t)∣ for every q. Taking the supremum yields a lower limit at least m(t). Thus the metric derivative exists and equals m(t) almost everywhere. The interval bound and square integrability follow from step 2.1 and m≤g.

4.1F1step 1.1step 3.1∎

Let h be any other nonnegative L2 upper control. Repeating the scalar difference-quotient bound of step 1.1 with h gives ∣fq′(t)∣≤h(t) almost everywhere for each q. Countability of D lets these inequalities hold off a single null set, so m(t)≤h(t) there. By step 3.1, ∣μ˙t∣=m(t) almost everywhere, proving leastness.

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Gaussian regularization preserves finite-action continuity equations

Statement

Assume the Axiom of Choice. Let T>0, d≥1, and let (μt,vt) be a narrowly continuous finite-action solution of the continuity equation on [0,T]×Rd, with space-time law M(dt,dx)=dt μt(dx). Put a(t)=∫∣vt(y)∣2dμt(y) and N={t:a(t)=+∞}. Then a is measurable, N is Borel and Lebesgue-null, and the Borel representative vˉ(t,x)=0 for t∈N and vˉ(t,x)=v(t,x) for t∉N agrees with v M-almost everywhere. For ε>0, let ρε be the strictly positive centered Gaussian probability density with covariance εId, and define ptε(x)=∫ρε(x−y)dμt(y),jtε(x)=∫ρε(x−y)vˉt(y)dμt(y),vtε(x)=jtε(x)/ptε(x). Then ptε is a strictly positive smooth probability density for each t, t↦μtε is narrowly continuous, vtε is Borel and locally Lipschitz in x with local magnitude and Lipschitz bounds integrable in time, and (μt∗ρε,vtε) solves the continuity equation. For almost every t, ∫∣vtε(x)∣2ptε(x)dx≤∫∣vt(y)∣2dμt(y).

Statement references

Facts & Assumptions

Given: AC; T,d,ε, the probability curve μt, its Borel vector field v, finite action, and the distributional continuity equation.

[F1]

The space-time law M is finite and integrates nonnegative Borel functions by time sections; in particular a(t)=∫∣vt∣2dμt is measurable and integrable. A narrow probability curve defines its space-time measure Finite-action continuity equation in Euclidean space

[F2]

The Gaussian kernel is strictly positive, smooth, has integral one and second moment dε. 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

[F3]

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

[F4]

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

[F5]

Dominated convergence passes the cutoff limits through the space-time integrals. Dominated convergence

Proof

1.1givenF1F2F3F4

The Gaussian second moment is finite: in one dimension x2e−x2/(2ε) is bounded on [−1,1] and, outside it, is bounded by a constant times e−x2/(4ε), which is integrable; product integration gives ∫∣z∣2ρε(z)dz=dε. Hence μt∗ρε has finite second moment by ∣y+z∣2≤2∣y∣2+2∣z∣2. For bounded continuous f, y↦∫f(y+z)ρε(z)dz is bounded and continuous by dominated convergence, so narrow continuity of μt gives narrow continuity of μtε. By [F1], a∈L1(0,T) and N is a Borel null set. Use vˉ from the statement; because vˉ=v M-almost everywhere, the distributional equation and action are unchanged. Set g(t)=a(t) for t∉N and g(t)=0 on N. Holder gives ∫∣vˉt∣dμt≤g(t) for every t and g∈L1(0,T), so all integrals defining j are finite for every t. By [F3], p,j are Borel in (t,x). Positivity of ρε and total mass one give ptε(x)>0. For every component i and real r, {(t,x):vt,iε(x)>r}={(t,x):jt,iε(x)−rptε(x)>0} is Borel by the sum and scalar-multiple closure in [F4]. Hence each component of vε is Borel. For every spatial multi-index, the Gaussian derivative is bounded by [F2], so differentiation under the integral is justified for p and for j's first derivatives by domination by a constant times 1+∣vˉt∣. Thus ptε is smooth in x and jtε is continuously differentiable in x. Also ∫ptεdx=1 by [F2] and Tonelli.

2.1F1F2F3step 1.1

Fix a compact spatial ball K. Narrow continuity of μt and bounded continuity of each Gaussian derivative imply joint continuity of ptε(x) and its spatial derivatives in (t,x): for tn→t, xn→x, the spatial difference is uniformly bounded by a derivative bound times ∣xn−x∣, and the remaining integral converges by narrow continuity. On [0,T]×K the positive density therefore has a positive minimum. For every first spatial derivative, boundedness of the corresponding Gaussian derivative gives ∣jtε(x)∣+∣∇jtε(x)∣≤Cε∫∣vˉt∣dμt≤Cεg(t) and ∣∇ptε(x)∣≤Cε. The quotient rule and the positive lower bound for p show that ∣vtε(x)∣+∣∇vtε(x)∣≤CK,εg(t) on K. The right side is time-integrable, proving the local magnitude and Lipschitz bounds required for the Carathéodory flow.

2.2F1F2F3step 1.1

For every t, the probability measure ptε(x)−1ρε(x−y)dμt(y) averages vˉt to vtε(x). Cauchy--Schwarz for this probability gives ∣jtε(x)∣2ptε(x)≤∫ρε(x−y)∣vˉt(y)∣2dμt(y). Integrate in x and use Tonelli and ∫ρε(x−y)dx=1 to obtain ∫∣vtε∣2ptεdx≤∫∣vˉt∣2dμt for every t; since vˉ=v M-almost everywhere, this is the asserted a.e. action inequality.

3.1givenF1F3F4F5step 1.1step 2.1∎

Since vˉ=v M-almost everywhere, the distributional continuity-equation identity also holds with vˉ. Let φ∈Cc∞((0,T)×Rd) and set ψ(t,y)=∫φ(t,x)ρε(x−y)dx. This function and its derivatives decay rapidly in y, but are not compactly supported. Choose smooth cutoffs χR equal to one on BR, supported in B2R, with ∣∇χR∣≤C/R, and apply the equation with vˉ to χR(y)ψ(t,y). As R→∞, dominated convergence [F5] sends the terms with χR to their uncut values: ∂tψ and ∇yψ are bounded, while ∣v∣ is integrable against M by [F1]. The extra term ψv⋅∇χR tends to zero, bounded in absolute integral by C∥ψ∥∞R−1∫∣v∣dM. Thus ∫(∂tψ+∇yψ⋅vt(y))dμt(y)dt=0. Differentiating the convolution and integrating by parts in x gives ∇yψ(t,y)=∫∇xφ(t,x)ρε(x−y)dx. Fubini then rewrites the last identity as ∫0T∫(∂tφ(t,x)ptε(x)+∇xφ(t,x)⋅jtε(x))dxdt=0, which is exactly the continuity equation for density ptε and velocity vtε=jtε/ptε.

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Quadratic path energy is lower semicontinuous

Statement

Assume AC. Let T>0 and give C([0,T];Rd) the uniform topology. Define E(γ)={∫0T∣γ˙(t)∣2dt,γ is absolutely continuous with γ˙∈L2(0,T;Rd),+∞,otherwise. Then E is lower semicontinuous. More precisely, E(γ)=sup⁡0=t0<⋯<tN=T∑i=0N−1∣γ(ti+1)−γ(ti)∣2ti+1−ti, where the supremum is over all finite partitions of [0,T].

Facts & Assumptions

Given: AC, T>0, and a continuous path γ:[0,T]→Rd.

[F1]

Under DC, continuous compactly supported functions are dense in L2(0,T) 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 N-indexed chain

[F2]

The real Hilbert space L2(0,T;Rd) is complete and bounded linear functionals on it have unique Riesz representatives under Countable Choice. Riesz-Fischer completeness of Lp for 1≤p≤∞ Riesz representation for Hilbert spaces The Axiom of Countable Choice (ACω)

Proof

1.1givenF4algebra

For a partition P=(ti)i=0N, write QP(γ)=∑i∣γ(ti+1)−γ(ti)∣2/(ti+1−ti) and set C=sup⁡PQP(γ). If γ is absolutely continuous with square-integrable derivative, Cauchy--Schwarz [F4] on each interval gives QP(γ)≤∫0T∣γ˙∣2dt.

2.1F1givenstep 1.1

Suppose C<∞. On interval-step functions f(t)=ci for ti<t<ti+1 define Λ(f)=∑ici⋅(γ(ti+1)−γ(ti)). Refinement leaves this value unchanged, so the functional is well-defined. Cauchy--Schwarz for the finite sums gives ∣Λ(f)∣≤(∑i∣ci∣2Δti)1/2QP(γ)1/2≤C∥f∥L2. By [F1], interval-step functions are dense in L2, so Λ extends uniquely to a bounded linear functional on the real Hilbert space L2(0,T;Rd).

3.1F2F3step 2.1

By [F2]–[F3], Riesz represents Λ by some u∈L2(0,T;Rd). Taking the step function equal to a fixed vector c on (s,t) and zero elsewhere gives c⋅(γ(t)−γ(s))=∫stc⋅u(r)dr for every c and every interval. Hence γ(t)−γ(s)=∫stu(r)dr. The scalar FTC [F3] coordinatewise shows that γ is absolutely continuous and γ˙=u almost everywhere. Thus E(γ)<∞.

4.1F1step 1.1step 2.1step 3.1∎

For this absolutely continuous path, the functional Λ is integration against γ˙ on interval-step functions. Since those functions are dense, its norm is ∥γ˙∥L2; for each fixed partition the squared norm of the restriction of Λ to step functions constant on its intervals is exactly QP(γ). Taking the supremum over partitions therefore gives C=∥γ˙∥L22=E(γ). Conversely, steps 2.1–3.1 prove that finite C forces finite energy, so if E(γ)=+∞ then C is also infinite. Each QP is continuous in the uniform topology because it uses finitely many point evaluations; their supremum is lower semicontinuous.

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Euclidean spaces admit a smooth compactly supported unit-mass bump

Statement

Assume Countable Choice. For every integer d≥1 there is a nonnegative function ρd:Rd→R with continuous partial derivatives of every order, support exactly [−1,1]d, strictly positive on (−1,1)d, and Lebesgue integral ∫Rdρd(x) dx=1. Here the support is the closure of the set where the function is nonzero.

Facts & Assumptions

Given: Countable Choice and an integer d≥1.

[A1]

Countable Choice is assumed in the product-Lebesgue identification used in [F4]. The Axiom of Countable Choice (ACω)

[F1]

For every integer N≥0, uNe−u→0 as u→+∞; therefore a polynomial in u times e−u tends to zero. The exponential dominates every fixed nonnegative integer power at +∞

[F4]

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 (ACω)

Proof

1.1F1F2giveninduction

Define ϕ(t)=e−1/t for t>0 and ϕ(t)=0 for t≤0. For each k≥0, repeated chain and product rules give ϕ(k)(t)=Pk(1/t)e−1/t on t>0 for a polynomial Pk: it holds with P0=1, and if u=1/t then differentiation replaces Pk(u) by the polynomial u2(Pk(u)−Pk′(u)). By [F1], this derivative tends to 0 as t↓0. Its difference quotient at 0 is uPk(u)e−u with u=1/t, which also tends to 0 by [F1]; from the left it is zero. Induction therefore gives every derivative at 0 equal to 0 and continuous there, so ϕ is smooth on R.

2.1A1F2F3step 1.1

Set Φ(t)=ϕ(t+1)ϕ(1−t). By [F2], Φ is smooth. It vanishes for t∉[−1,1] and is positive for −1<t<1, so its support is [−1,1]. Let I=∫RΦ(t) dt. The extreme-value bound [F3] makes Φ bounded on [−1,1], so I<∞. Since Φ(0)=e−2>0, continuity gives δ∈(0,1) with Φ(t)≥e−2/2 on [−δ,δ]; [F3] gives I≥δe−2>0. Hence ψ=Φ/I is smooth, supported on [−1,1], positive on (−1,1), and has integral one.

3.1F2givenstep 2.1

Define ρd(x1,…,xd)=∏j=1dψ(xj). Repeated coordinatewise chain and product rules give every partial derivative as ∏j=1dψ(αj)(xj) for its multi-index α, so all partial derivatives are continuous. The function is nonnegative, vanishes outside [−1,1]d, and is positive at every point of (−1,1)d; therefore its support is exactly that closed cube.

4.1A1F4step 2.1step 3.1induction∎

For d=1, ∫ρ1=1 by step 2.1. By step 3.1, ρd is a nonnegative Borel function supported in the compact cube. For d≥2, split Rd=Rd−1×R. By [F4] and Tonelli, ∫ρd dx=(∫ρd−1 dx)(∫ψ dt); the second factor is 1 by step 2.1. Induction on d proves ∫Rdρd dx=1.

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Smooth compactly supported tests are dense for finite Radon L2 measures

Statement

Assume Dependent Choice. Let M be a finite Radon Borel measure on Rn, where n≥1. Then Cc∞(Rn) is dense in L2(M).

Facts & Assumptions

Given: DC, a finite Radon measure M on Rn, and f∈L2(M).

[F3]

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

1.1givenF1F2F3

By [F1], given ϵ>0 choose g∈Cc(Rn) with ∥f−g∥L2(M)<ϵ/2. Extend g by zero on Rn; it is bounded and uniformly continuous. Let ρδ be the mollifier generated by [F3]. Since ρ has compact support, for some R<∞ its support is contained in BR(0), and sup⁡x∣(g∗ρδ)(x)−g(x)∣≤sup⁡∣z∣≤Rδ,x∣g(x−z)−g(x)∣⟶0 by uniform continuity.

2.1F1F2F3step 1.1∎

The function g∗ρδ is smooth by [F2], and its support lies in the sum of the compact supports of g and ρδ, hence is compact. Since M is finite, ∥g∗ρδ−g∥L2(M)≤M(Rn)1/2∥g∗ρδ−g∥∞. Choose δ small enough that this is below ϵ/2 (if M is zero, every L2(M) class is zero and the conclusion is immediate). The triangle inequality gives ∥f−g∗ρδ∥L2(M)<ϵ, proving density.

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Local flows for time-measurable fields with integrable local bounds

Statement

Assume Countable Choice. Let T>0, let d≥1, and let b:[0,T]×Rd→Rd be Borel. Suppose that for every compact K⊂Rd there are nonnegative mK,LK∈L1(0,T) such that for almost every t, ∣b(t,x)∣≤mK(t) and ∣b(t,x)−b(t,y)∣≤LK(t)∣x−y∣ for all x,y∈K. For each (s,x0) there is a unique maximal locally absolutely continuous solution X(⋅;s,x0) of X˙=b(t,X) with X(s)=x0, defined on an interval I⊆[0,T] containing s. Here locally absolutely continuous means absolutely continuous on every compact subinterval of I, and maximal means that it has no locally absolutely continuous solution extension to a strictly larger interval in [0,T]; any maximal endpoint lying in (0,T) can occur only if the trajectory leaves every compact subset of Rd. If, in addition, b(t,⋅) is continuously differentiable for almost every t and Dxb 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 ∂sX(t;s,x)=−DxX(t;s,x)b(s,x) for almost every s, simultaneously for x in the tube. The spatial derivative Vt=Dx0X(t;s,x0) satisfies V˙t=Dxb(t,Xt)Vt, Vs=Id, almost everywhere.

Facts & Assumptions

Given: Countable Choice, the Borel field b, its locally integrable magnitude bounds mK, its locally integrable Lipschitz bounds LK, and, for the flow-regularity clause, its almost-everywhere continuous spatial derivative with locally integrable bounds.

[F1]

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 Rn-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

[F2]

If f is integrable, its indefinite integral is absolutely continuous by the indefinite-integral corollary, and has derivative f almost everywhere under Countable Choice by the first Lebesgue FTC. Apply these scalar results componentwise for vectors and matrices. The indefinite integral of an L1 function is absolutely continuous The indefinite integral of an L1 function is differentiable almost everywhere The Axiom of Countable Choice (ACω)

[F4]

Dominated convergence applies to the matrix-valued coefficients bounded by an integrable local derivative bound. Dominated convergence

[F5]

The derivative of a composition of differentiable maps is the composition of their derivatives. The chain rule for total derivatives: D(g∘f)(a)=Dg(f(a))∘Df(a)

[F6]

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 Rn The Axiom of Countable Choice (ACω)

[F7]

Under Countable Choice, an absolutely continuous scalar function maps every null set to a null set. Absolutely continuous functions have Luzin's property (N)

[F8]

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 R 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 [a,b] takes every value between f(a) and f(b)

Proof

1.1givenF1F2

Fix an initial pair (s,x0) and a closed ball K=B‾(x0,r). On a sufficiently short one-sided interval J adjoining s, absolute continuity of the integrals of mK,LK gives ∫JmK≤r and ∫JLK<1. On continuous curves taking values in K, define Φ(X)(t)=x0+∫stb(q,X(q))dq, with the oriented integral when J lies to the left of s. The integrand is measurable because q↦(q,X(q)) is continuous and b is Borel; it is integrable because ∣b(q,X(q))∣≤mK(q) almost everywhere. The map preserves the closed sup-norm ball of radius r about the constant curve x0, and ∥Φ(X)−Φ(Y)∥∞≤(∫JLK)∥X−Y∥∞. By [F1] it has a unique fixed point. The integral FTC [F2] makes this curve absolutely continuous and a solution almost everywhere.

1.2F7F8constructalgebra

We first prove the scalar zero-derivative implication needed for uniqueness. Let H:[a,c]→R be absolutely continuous with H′=0 outside a null set N containing the endpoints. For ε>0 and n≥1, let En consist of all x∈[a,c] such that ∣H(y)−H(x)∣≤ε∣y−x∣ whenever y∈[a,c] and ∣y−x∣<1/n. Continuity of H makes En closed: pass to the limit in this inequality for each fixed y with ∣y−x∣<1/n. These compact sets increase with n and cover [a,c]∖N. Partition [a,c] into finitely many closed intervals of length less than 1/n. On each interval I, the compact image H(En∩I) has diameter at most ε∣I∣, so covering it by its smallest containing interval gives λ(H(En))≤ε(c−a). By [F8], the increasing union of the compact images has measure at most ε(c−a), hence λ∗(H([a,c]∖N))≤ε(c−a). Letting ε↓0 makes this image null; [F7] makes H(N) 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.

2.1F2step 1.2givenalgebra

Any absolutely continuous solution Y on a compact interval with image in K satisfies its integral equation. Indeed, f(q)=b(q,Y(q)) is measurable and bounded almost everywhere by mK, hence integrable. By [F2], I(t)=∫atf(q)dq is absolutely continuous and I′=f almost everywhere. Each component of Y−I 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 Y(t)−Y(a)=∫atb(q,Y(q))dq for every t, and subtraction gives the oriented version with any base time.

3.1givenF2step 1.1step 2.1

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 ∫LK<1. 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 (∫LK) 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 τ lies in (0,T) and there are times tn↑τ with X(tn) in a compact set K. Choose R with K contained in the ball BR(0), put K1=B‾R+1(0), and take n large enough that ∫tnτmK1<1. If the path first reaches the boundary of K1 at some r∈(tn,τ), it stays in K1 on [tn,r], so ∣X(r)−X(tn)∣≤∫tnrmK1<1, while ∣X(r)−X(tn)∣≥∣X(r)∣−∣X(tn)∣≥1, a contradiction. Thus it stays in K1 up to τ; the same integrable bound makes it Cauchy there, and its finite limit lets step 1.1 extend it past τ, 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.

4.1F1F2F3F4step 1.1step 3.1

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 ∥X(⋅;s,x0+h)−X(⋅;s,x0)∥∞≤C∣h∣. Write Δh(t)=X(t;s,x0+h)−X(t;s,x0). The state-variable fundamental theorem of calculus [F3] gives Δh(t)=h+∫stAh(q)Δh(q)dq,Ah(q)=∫01Dxb(q,X(q;s,x0)+θΔh(q))dθ. Put A(q)=Dxb(q,X(q;s,x0)) at the almost-everywhere times where the spatial differential exists, with value zero on its exceptional time set. The matrix equation V(t)=Id+∫stA(q)V(q)dq has a unique continuous solution by the contraction argument of step 1.1, since ∫JLK<1. Subtracting its product with h from the equation for Δh gives Δh(t)−V(t)h=∫stAh(q)(Δh(q)−V(q)h)dq+∫st(Ah(q)−A(q))V(q)h dq. Taking sup norms and absorbing the first term bounds the left side by C∣h∣∫J∥Ah−A∥dq=o(∣h∣). Thus Dx0X=V; dominated convergence in the same integral equation proves continuity of V in x0. The integral FTC [F2] yields V˙=A(t)V almost everywhere. Repeating on a finite cover by overlapping short intervals gives C1 dependence throughout each common flow domain and continuous dependence in the uniform path norm on trajectories existing through the full interval.

5.1F5step 3.1step 4.1

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 C1 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 C1 diffeomorphism between its open domain and image.

6.1F2F6step 4.1step 5.1∎

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 ∣X(r;s,y)−X(r;s,z)∣≤∣y−z∣+∫min⁡{s,r}max⁡{s,r}LK(q)∣X(q;s,y)−X(q;s,z)∣dq; iterating this inequality yields the spatial Lipschitz bound ∣X(t;s,y)−X(t;s,z)∣≤e∫JLK∣y−z∣. For s,s+h∈J, the flow identity and the integral equation along the short backward segment give X(t;s+h,x)=X(t;s,X(s;s+h,x)) and ∣X(s;s+h,x)−x∣≤∫[s,s+h]mK(q)dq, where the integral is over the unoriented interval. Hence ∣X(t;s+h,x)−X(t;s,x)∣≤e∫JLK∫[s,s+h]mK(q)dq. Summing over any disjoint adjacent intervals shows that s↦X(t;s,x) 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 mK,LK and each component of s↦b(s,q) for q∈Q; 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 b(r,x) over intervals shrinking to s converge to b(s,x) uniformly for x∈K. For the solution started at x at time s+h, the magnitude bound gives ∣X(r;s+h,x)−x∣≤∫[s,s+h]mK=O(∣h∣) uniformly between s and s+h at these Lebesgue points. Replacing b(r,x) by b(r,X(r;s+h,x)) in the average contributes at most ∣h∣−1O(∣h∣)∫[s,s+h]LK(r)dr=O(∣h∣). The integral equation therefore gives [X(s;s+h,x)−x]/h→−b(s,x) uniformly on K. The flow identity X(t;s+h,x)=X(t;s,X(s;s+h,x)) and the spatial derivative from step 4.1 yield ∂sX(t;s,x)=−DxX(t;s,x)b(s,x) almost everywhere on the tube. The right side has the integrable local bound e∫JLKmK(s), consistent with and also giving the local absolute continuity.

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Regularized continuity equations are represented by characteristic flows

Statement

Assume AC. Let (μtε,vtε) be the Gaussian-regularized solution from the preceding lemma on [0,T]×Rd, and write μtε=ptε(x)dx. There is a unique maximal local flow Xtε(x) solving X˙tε(x)=vtε(Xtε(x)), X0ε(x)=x. For μ0ε-almost every x the path exists on all of [0,T], the map from x to its path is Borel on this full-measure domain, and for every t∈[0,T], μtε=(Xtε)#μ0ε.

Statement references

Facts & Assumptions

Given: AC, the positive smooth densities ptε, the locally time-integrably Lipschitz vector field vtε, its distributional continuity equation, and finite action.

[F1]

The Gaussian-regularized pair has positive spatially smooth density, solves the continuity equation, and has finite action. Gaussian regularization preserves finite-action continuity equations

[F2]

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

[F3]

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

[F4]

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

[F5]

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 E⊊Rd is Polish: dE(x,y)=∣x−y∣+∣dist⁡(x,Ec)−1−dist⁡(y,Ec)−1∣ is a complete compatible metric, since a dE-Cauchy sequence has a Euclidean limit and bounded reciprocal distance prevents that limit from lying on Ec; the case E=Rd uses its Euclidean metric. The Axiom of Choice AC implies DC implies countable choice The Axiom of Countable Choice (ACω) Assuming countable choice, Borel probability measures on Polish spaces are inner regular Polish spaces are separable completely metrizable spaces

[F6]

Dominated convergence applies to sequences bounded by an integrable function on either finite measure. Dominated convergence

[F7]

Monotone convergence passes increasing nonnegative truncations through the measures and time integral. Monotone convergence for the integral

Proof

1.1F1F2given

Apply [F2] to vε and denote by Dt the open set of initial points whose trajectories exist from time 0 through t, and by Et=Xtε(Dt) its open image. Fix t∈(0,T] and f∈Cc∞(Et). For 0≤r≤t and x∈Dr,t, the set of states whose trajectories exist from r to t, define ψ(r,x)=f(Xε(t;r,x)); extend it by zero outside Dr,t. Since supp⁡f is compactly contained in Et, its backward images form a compact subset of the flow domain. Thus ψ 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 ∂rψ=∇f(X(t;r,x))⋅[−DxX(t;r,x)vrε(x)]=−vrε(x)⋅∇xψ almost everywhere.

2.1F1F3F5F6step 1.1

For this fixed t define the restricted finite pushforward νt on Et by νt(B)=μ0ε({x∈Dt:Xtε(x)∈B}) for Borel B⊆Et. The set is Borel because Xtε is continuous on the open domain Dt; preimages preserve disjoint unions, so νt is a finite Borel measure of mass μ0ε(Dt). The weak continuity-equation identity extends from smooth compact tests to compactly supported tests that are C1 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 pε is locally bounded, pεvε 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 L1. Apply this extension to η(r)ψ(r,x) from step 1.1 for every smooth compactly supported time cutoff η. The transport equation leaves ∫η′(r)F(r)dr=0, so F(r)=∫ψ(r,x)dμrε(x) is constant on (0,t). Continuity of the flow and of μrε extends the identity to r=0,t, giving ∫f(y)dμtε(y)=∫f(Xtε(x))dμ0ε(x) for every f∈Cc∞(Et). Uniform mollification extends equality to every f∈Cc(Et); both measures are finite, so uniform limits pass through their integrals. For a compact K⊂Et, choose n sufficiently large that the closed 1/n-neighborhood of K is compactly contained in Et and set fn(x)=max⁡{0,1−ndist⁡(x,K)}. Then fn∈Cc(Et) and fn↓1K, so [F6] gives νt(K)=μtε(K). By [F5], both finite Borel measures on the Polish space Et are inner regular; their agreement on compact sets therefore proves νt=μtε∣Et.

3.1F1F2F4F7step 2.1

For every r∈(0,T], step 2.1 gives equality of the restricted finite measures on Er. Applying it to y↦min⁡{N,∣vrε(y)∣2} and letting N↑∞ by [F7] yields ∫Dr∣vrε(Xrε(x))∣2dμ0ε(x)=∫Er∣vrε(y)∣2dμrε(y)≤∫∣vrε(y)∣2dμrε(y). Let D={(r,x):x∈Dr}. This domain is relatively open in [0,T]×Rd and (r,x)↦Xrε(x) is continuous on it: cover any compact trajectory segment through (r,x) 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 D. Tonelli [F4] then gives ∫ ⁣∫0min⁡{T,τ(x)}∣vrε(Xrε(x))∣2dr dμ0ε(x)≤∫0T ⁣∫∣vrε(y)∣2dμrε(y)dr<∞. Thus for μ0ε-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 (0,T). At T it has a finite limit and extends continuously to T. Thus μ0ε(DT)=1.

4.1F2F3step 2.1step 3.1∎

For each t, step 2.1 identifies μtε∣Et with νt=(Xtε)#(μ0ε∣Dt), where this restricted pushforward is the finite measure defined in step 2.1. Since DT⊆Dt and μ0ε(DT)=1 by step 3.1, νt(Et)=μ0ε(Dt)=1. Hence μtε(Et)=1, and the equality of restricted measures extends to all Borel subsets of Rd. Because Dt is open and Xtε is continuous there, extend Xtε to all of Rd by setting it to zero off Dt; this is Borel and its pushforward is νt since μ0ε(Dt)=1. Thus μtε=(Xtε)#μ0ε. This proves the claim for every t, with the unique flow given by [F2].

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Superposition for finite-action Euclidean continuity equations

Statement

Assume AC. Let T>0 and let (μt,vt) be a narrowly continuous finite-action solution of the continuity equation on [0,T]×Rd. There is a Borel probability law η on C([0,T];Rd) such that (et)#η=μt for every t, and for η-almost every path γ, γ is absolutely continuous and γ˙(t)=vt(γ(t)) for almost every t. Its expected path action equals the Eulerian action: ∫ ⁣∫0T∣γ˙(t)∣2dt dη(γ)=∫0T ⁣∫∣vt(x)∣2dμt(x)dt.

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 Rn-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

Radon measure on an LCH space

Assuming countable choice, Borel probability measures on Polish spaces are inner regular

Disintegration of a joint law on standard borel spaces

Standard Borel spaces

Finite products of standard Borel spaces are standard Borel

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

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

The Axiom of Choice

AC implies DC implies countable choice

The Axiom of Countable Choice (ACω)

The axiom of dependent choice: a relation in which every element is related to something admits an N-indexed chain

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 (μt,vt).

[F1]

For every ε>0, the regularized pair has a global flow representation μtε=(Xtε)#μ0ε and its flow paths satisfy γ˙=vtε(γ) almost everywhere. Gaussian regularization preserves finite-action continuity equations Regularized continuity equations are represented by characteristic flows

[F2]

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

[F3]

The path energy E(γ)=∫∣γ˙∣2 (infinite off AC2 paths) is nonnegative and lower semicontinuous on the uniform path space. Quadratic path energy is lower semicontinuous

[F9]

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

[F10]

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

[F4]

Under AC, disintegrating the law of (t,γ(t),γ˙(t)) over its standard-Borel (t,γ(t)) 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

[F7]

The time-space law M is a finite Borel measure with time marginal Lebesgue measure and section integral dt μt(dx). A narrow probability curve defines its space-time measure

[F8]

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

1.1F1F6F8F10

Set εn=1/n. For each n, let Dn be the Borel full-μ0εn-measure set of initial points whose regularized flow paths exist on all of [0,T]. The map Fn:Dn→C([0,T];Rd), Fn(x)(t)=Xtεn(x), is Borel by [F1]. Extend it by the zero path off Dn and define ηn=(Fn)#μ0εn; this is the law of a Borel random element and is a Borel probability. For every t, composition with evaluation gives (et)#ηn=(Xtεn)#μ0εn=μtεn by [F1]. The flow equation, the same marginal identity, and Tonelli give ∫E(γ)dηn(γ)=∫0T ⁣∫∣vtεn(x)∣2dμtεn(x)dt≤A, where A=∫0T ⁣∫∣vt(x)∣2dμt(x)dt<∞. For every fixed t, μtεn⇒μt: for bounded continuous f, first restrict y to a compact set carrying all but arbitrarily small μt-mass using [F8], then use uniform continuity of f on a one-neighborhood of that compact and concentration of the Gaussian kernels at zero.

1.2F2F3F7

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 δ>0, choose compact K with μ0εn(Kc)<δ/2 for all n, and choose R so A/R<δ/2. The set KR={γ:γ(0)∈K, E(γ)≤R} is closed by [F3] and compact by Arzela–Ascoli: its paths obey ∣γ(t)−γ(s)∣≤R∣t−s∣ and sup⁡t∣γ(t)∣≤sup⁡x∈K∣x∣+RT. Markov's inequality, which follows from 1{E>R}≤E/R, gives ηn(KR)≥1−δ. Thus (ηn) is tight; [F2] gives a weakly convergent subsequence, still denoted ηn, with Borel probability limit η.

2.1F2F3F9step 1.1step 1.2

For each t, evaluation et:C→Rd is continuous, so weak convergence and the marginal convergence μtεn⇒μt imply (et)#η=μt. By [F3], E is nonnegative and lower semicontinuous. For each integer k define gk(γ)=min⁡{k,inf⁡ζ∈C[E(ζ)+k∥γ−ζ∥∞]}. The triangle inequality makes gk k-Lipschitz, 0≤gk≤E, and gk increases with k. If a<E(γ), lower semicontinuity gives a neighborhood of γ where E>a; outside that neighborhood the term k∥γ−ζ∥∞ exceeds a for all sufficiently large k. Thus gk(γ)↑E(γ). By [F9], weak convergence gives ∫gkdη=lim⁡n∫gkdηn≤lim inf⁡n∫Edηn for every k. Monotone convergence [F9] yields ∫Edη≤lim inf⁡n∫Edηn≤A. In particular η-almost every path is absolutely continuous with square-integrable derivative.

3.1F4F6F7step 2.1

Give [0,T]×C the probability measure λ=(dt/T)⊗η and define the Borel random element Z(t,γ)=(t,γ(t),γ˙(t)), 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 λ-almost every pair. The law Π of Z has (t,x) marginal M/T by the time-marginal identity in step 2.1. Disintegrate with the velocity as the conditioned coordinate, and put b(t,x)=∫u Kt,x(du) where defined, zero otherwise. It is Borel by [F4]. Conditional Jensen and step 2.1 give ∫∣b∣2dM≤T∫∣u∣2dΠ=∫ ⁣∫0T∣γ˙(t)∣2dt dη(γ)≤A. The factor T cancels because Π uses normalized time.

3.2F6step 1.1step 2.1

Fix a smooth compactly supported vector field ξ(t,x). For a finite partition P=(ti) of mesh h, set SP(γ)=∑iξ(ti,γ(ti))⋅(γ(ti+1)−γ(ti)). For every AC2 path, bounded derivatives of ξ imply ∣∫0Tξ(t,γ(t))⋅γ˙(t)dt−SP(γ)∣≤Cξ(hT E(γ)1/2+hE(γ)). Indeed on each interval ∣ξ(t,γt)−ξ(ti,γti)∣≤Cξ(h+∣γt−γti∣), while Cauchy--Schwarz gives ∫titi+1∣γ˙∣≤hEi and ∣γt−γti∣≤hEi; summing yields the bound. Its expectation is uniform over ηn and η by the action bound. For fixed P with N intervals, SP is continuous and ∣SP∣2≤N∥ξ∥∞2∑i∣γ(ti+1)−γ(ti)∣2. Pathwise Cauchy--Schwarz gives ∫∣γ(ti+1)−γ(ti)∣2dηn≤(ti+1−ti)A, so these sums have uniformly bounded second moments under ηn and η. Thus SP is uniformly integrable, and weak convergence plus bounded truncations gives ∫SPdηn→∫SPdη. Letting h tend to zero proves convergence of the expected path integrals.

4.1F1F5F6F7step 3.1step 3.2

Under ηn, the path derivative is vtεn(γ(t)); hence its expected ξ-pairing is ∫ξ(t,x)⋅vtεn(x)dμtεn(x)dt. By the convolution definitions, ∫ξ⋅vεndMεn=∫0T ⁣∫vt(y)⋅(ξt∗ρεn)(y)dμt(y)dt⟶∫ξ⋅v dM, since ξt∗ρεn→ξt uniformly and v∈L1(M) by finite action and Holder. Combining with step 3.2 and the conditional-mean definition of b gives ∫ξ⋅b dM=∫ξ⋅v dM. Smooth-test density [F5] implies b=v M-almost everywhere.

5.1F3step 2.1step 3.1step 4.1∎

The time marginals of η are μt, so ∫∣v(t,γ(t))∣2dt dη=A. By step 3.1 the conditional mean of γ˙ given (t,γ(t)) is b, which equals v by step 4.1. Therefore ∫ ⁣∫0T∣γ˙(t)−vt(γ(t))∣2dt dη=∫E dη+A−2∫v⋅b dM=∫E dη−A≤0. The left side is nonnegative, so it is zero. Thus γ˙=vt(γ(t)) for dt dη-almost every pair, and the expected path action equals A. Together with the time marginals this is the claimed superposition law.

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Finite-action continuity equations generate AC2 Wasserstein curves

Statement

Assume AC. Let T>0 and let (μt,vt) be a narrowly continuous finite-action solution of the continuity equation on [0,T]×Rd. Then t↦μt belongs to AC2([0,T];P2(Rd)) and, for almost every t, ∣μ˙t∣≤(∫∣vt(x)∣2dμt(x))1/2.

Facts & Assumptions

Given: AC and the narrowly continuous finite-action solution (μt,vt).

[F1]

There is a probability law η on C([0,T];Rd) whose time marginals are μt, whose almost every path is absolutely continuous with γ˙(t)=vt(γ(t)) almost everywhere, and whose expected path action equals the Eulerian action. Superposition for finite-action Euclidean continuity equations

[F2]

Minkowski's integral inequality bounds the L2 norm of a time integral by the time integral of the L2 norms. Minkowski's integral inequality

[F3]

The metric derivative theorem identifies the least L2 upper control of a Wasserstein curve with its metric derivative. Metric derivatives of AC2 Wasserstein curves

[F4]

If η is a Borel probability law on a Polish space and F is Borel into a Polish space, define F#η(B)=η(F−1(B)); countable additivity and total mass one follow from preimages and the measure axioms, coordinate marginals compose with coordinate maps, and ∫h d(F#η)=∫h(F) dη 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

1.1givenF1F2F4

For 0≤s<t≤T, the evaluation map Es,t:C([0,T];Rd)→R2d, Es,t(γ)=(γ(s),γ(t)), is continuous. Define πs,t(B)=η(Es,t−1(B)) for Borel B⊆R2d; by [F4] this is a Borel probability. Its coordinate marginals are (es)#η=μs and (et)#η=μt, so πs,t is a coupling. Its quadratic cost satisfies ∫∣x−y∣2dπs,t(x,y)=∫∣γ(t)−γ(s)∣2dη(γ) by [F4]. For η-almost every path, absolute continuity gives ∣γ(t)−γ(s)∣≤∫st∣γ˙(r)∣dr. Minkowski [F2], applied with the path probability space and Lebesgue measure on [s,t], yields W2(μs,μt)≤(∫(∫st∣γ˙(r)∣dr)2dη)1/2≤∫st(∫∣γ˙(r)∣2dη)1/2dr. The marginal identity and the pathwise velocity identity in [F1] identify the inner integral for almost every r as ∫∣vr(x)∣2dμr(x). Put g(r)=(∫∣vr∣2dμr)1/2. Finite action gives g∈L2(0,T), and the displayed bound for every interval implies W2-continuity and the defining AC2 upper-control inequality.

2.1F3step 1.1∎

By [F3], the metric derivative exists almost everywhere and is no larger than any nonnegative L2 upper control. Applying it to g from step 1.1 gives ∣μ˙t∣≤g(t) almost everywhere, as claimed.

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AC2 curves admit a unique minimum-action velocity field

Statement

Assume AC. Let T>0 and μ∈AC2([0,T];P2(Rd)). There is a Borel vector field v of finite action that solves the continuity equation and satisfies ∫∣vt(x)∣2dμt(x)=∣μ˙t∣2 for almost every t. Every other Borel finite-action solution w of the same continuity equation obeys the pointwise Pythagorean identity ∫∣wt(x)∣2dμt(x)=∣μ˙t∣2+∫∣wt(x)−vt(x)∣2dμt(x) for almost every t. Consequently v is the unique minimum-action velocity up to dt μt(dx)-null sets and ∫0T∣μ˙t∣2dt=min⁡w∫0T ⁣∫∣wt(x)∣2dμt(x)dt, where the minimum ranges over Borel finite-action fields solving the same continuity equation.

Statement references

Facts & Assumptions

Given: AC, the AC2 curve μt, its measurable metric speed s(t)=∣μ˙t∣, and its space-time measure M(dt,dx)=dt μt(dx).

[F1]

The real space H=L2(M;Rd) with inner product ⟨u,w⟩=∫u⋅w dM is a Hilbert space; the Hilbert-space Riesz representation theorem holds under Countable Choice, which follows from AC. Riesz-Fischer completeness of Lp for 1≤p≤∞ 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 (ACω)

[F2]

For every pair μt,μt+h an optimal coupling exists; its quadratic cost is W2(μt,μt+h)2. Optimal quadratic couplings exist and their cost is weakly lower semicontinuous

[F8]

Dominated convergence passes integrable test limits through the space-time integrals. Dominated convergence

[F4]

Holder's inequality gives ∫Is(t)∥∇φt∥L2(μt)dt≤∥s∥L2(I)∥∇φ∥L2(M∣I). Holder's inequality for integrals, including the endpoint cases

[F6]

A finite Borel measure on the space-time product has the stated section integral, and time marginal dt, so interval endpoints are M-null. A narrow probability curve defines its space-time measure

[F7]

A finite-action solution of the continuity equation has metric speed at most its instantaneous L2(μt) velocity norm. Finite-action continuity equations generate AC2 Wasserstein curves

Proof

1.1F2F3F4F5given

We first prove the scalar transport estimate ∣∫0T ⁣∫∂tφ(t,x)dμt(x)dt∣≤∫0Ts(t)∥∇xφ(t,⋅)∥L2(μt)dt(1) for φ∈Cc∞((0,T)×Rd). Put F(t)=∫φ(t,x)dμt(x). If r<t, the time increment of φ is bounded by ∥∂tφ∥∞(t−r), and its spatial increment under an optimal coupling is bounded by ∥∇φ∥∞W2(μr,μt). The AC2 control therefore makes F absolutely continuous. At an interior time t where the metric derivative exists, use an optimal coupling πh of μt,μt+h. Taylor's formula with bounded Hessian gives φ(t,y)−φ(t,x)=∇xφ(t,x)⋅(y−x)+Rt(x,y),∣Rt(x,y)∣≤C∣y−x∣2. Cauchy--Schwarz and [F2] yield ∣∫(φ(t,y)−φ(t,x))dπh∣≤∥∇φ(t,⋅)∥L2(μt)W2(μt,μt+h)+CW2(μt,μt+h)2. After division by ∣h∣, the remainder tends to zero and the first term tends to s(t)∥∇φt∥2. The separate time increment converges to ∫∂tφ(t,x)dμt(x) by narrow continuity and uniform convergence of the smooth time difference quotients. Hence ∣F′(t)−∫∂tφtdμt∣≤s(t)∥∇φt∥2 almost everywhere. Since F vanishes near 0 and T, the absolutely-continuous FTC [F3] gives ∫0TF′=0; integrating the pointwise derivative inequality proves (1). Holder [F4] will be used for the right side.

2.1F1F4F5step 1.1

Let G be the closure in H of {∇xφ:φ∈Cc∞((0,T)×Rd)}. Define ℓ(∇φ)=−∫∂tφ dM. Estimate (1) and [F4] show ∣ℓ(g)∣≤∥s∥L2(0,T)∥g∥H. Thus if two tests have the same gradient in H their ℓ values agree; this defines a bounded linear functional on the gradient subspace and extends uniquely to G. By [F1] and Riesz there is a unique v∈G with ℓ(g)=⟨g,v⟩H for all g∈G, and ∥v∥H≤∥s∥2. Choose a Borel representative of this L2(M) class. For every test φ, ∫(∂tφ+∇xφ⋅v)dM=0, so v solves the continuity equation and has finite action.

3.1F1F3F4F6F7F8step 2.1

Fix an interval I with rational endpoints in (0,T) and let GI be the closure in L2(M∣I×Rd) of gradients of tests compactly supported in the interior of I. The restriction v1I belongs to GI: approximate v by global test gradients, multiply each by smooth time cutoffs converging to 1I, and use [F8] dominated convergence; the time marginal is Lebesgue, so the endpoints are null. For tests supported in I, v1I represents the restricted functional ℓI. By (1), its norm is at most ∥s∥L2(I). Consequently ∫I∥vt∥L2(μt)2dt≤∫Is(t)2dt for every rational interval I. Apply [F3] to the indefinite integral of q(t)=∥vt∥L2(μt)2−s(t)2: 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 ∥vt∥L2(μt)≤s(t) a.e. Applying [F6] to the solution v gives the reverse inequality. Hence equality holds almost everywhere.

4.1F1F3F5F6step 3.1∎

Let w be any other Borel finite-action solution and put h=w-v. Subtracting the two weak equations gives ⟨h,∇φ⟩H=0 for every test. Therefore on each rational interval I, h is orthogonal to GI; step 3.1 has v1I∈GI, so ∫I∫ht⋅vtdμtdt=0. The scalar integrand is in L1(0,T) 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 ⟨ht,vt⟩L2(μt)=0 a.e., and the Hilbert-space identity gives ∥wt∥L2(μt)2=∥vt+ht∥L2(μt)2=∥vt∥L2(μt)2+∥ht∥L2(μt)2=s(t)2+∥wt−vt∥L2(μt)2. Integrating proves the minimum value and uniqueness up to M-null sets.

4 · Examples, counterexamples and false statements

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