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Conditional Distributions and Regular Conditional Probability
1 · Prerequisites
- Absolute and Conditional Convergence; Rearrangement; Products
- Binary Operations, Monoids, Groups and Subgroups
- Compactness in Metric Spaces
- Complete Metrizability, Čech-Completeness, and Baire Category
- Completeness, Completion, and Uniform Continuity
- 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
- Divisibility, Euclidean Domains, Principal Ideal Domains and Unique Factorisation
- Finite Counting, Factorials and Binomial Coefficients
- Foundations of the Real Numbers for Analysis
- Ideals, Quotient Rings and the Isomorphism Theorems for Rings
- Infinite Product Measures and Kolmogorov Extension
- Lebesgue-Stieltjes Measures and Distribution Functions
- Limits of Real Functions
- limsup, liminf, and Subsequential Limits
- Measurable Functions and Simple Approximation
- Measures and Their Basic Properties
- Metric Spaces
- Monotone Functions, Discontinuities, and Continuity Sets
- Monotone Sequences, Bolzano-Weierstrass, and Cauchy Completeness
- Normal Subgroups and Quotient Groups
- Order, Zorn's Lemma, and the Axiom of Choice
- Outer Measure and the Caratheodory Extension Theorem
- 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
- Relations, Functions, and Quotients
- Rings, Subrings, Integral Domains and Fields
- 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
- Standard-Borel Real Codings and Determining Classes
- Subspaces, Products, and Quotients
- Suprema and Infima
- The Cantor Set, Baire Category, and Measure Zero in ℝ
- The Derivative and the Mean Value Theorems
- The Exponential Function
- The Lebesgue Integral and the Convergence Theorems
- The Logarithm and General Powers
- The Lᵖ Spaces Holder Minkowski and Riesz Fischer
- The Radon Nikodym Theorem and Lebesgue Decomposition
- The Riemann Integral: Definition and Integrability
- The Topology of Euclidean Space
- The ZFC Axioms and the Basic Set Constructions
- Topological Spaces and Continuity
- Topology of ℝ
- Triangularisation, Generalised Eigenspaces and Jordan Canonical Form
- Vector Spaces, Linear Subspaces, Span and Direct Sums
2 · Summary
A conditional probability for a single event is an almost-sure class. A regular conditional distribution packages all target events into one kernel whose sections are probability measures at every sample point. The opening items establish integration and composition for probability and finite kernels, and for kernels with a specified common finite-mass exhaustion.
The existence proof chooses rational conditional distribution values, removes one measurable null union of all consistency failures, and builds real probability sections by CDF correspondence. Real coding then gives standard-Borel targets, with an explicit support repair. A countable determining algebra turns eventwise uniqueness into simultaneous equality of measures. AC is declared for rational version selection, coding and the inherited conditional-expectation and CDF constructions.
Conditioning on a random element requires a kernel on its value space. The factorization proof supplies its scalar measurable construction locally, and disintegration extends the rectangle identity to every nonnegative joint test. The final formulas compute conditional expectations and dominated posteriors. Density normalization is restricted to finite positive marginal density; both zero and infinite normalizers receive a specified probability filler. The explicit density identities and kernel operations remain choice-free when their inputs are supplied.
3 · Logical flowchart
4 · Definitions, theorems and proofs
Measure kernel and probability kernel
Definition
A measure kernel from to is a map such that, for every , is a measure on , and for every , is -measurable. Measures and measurability have the meanings in Measures on sigma-algebras and A measurable function between measurable spaces; the evaluation functions use the Borel sigma-algebra on .
A probability kernel satisfies for every s. A finite kernel satisfies for every s; there need not be a common bound on these masses. A uniformly sigma-finite kernel, in the convention of this page, comes with a specified sequence increasing to T such that for every s and n. This is a common measurable exhaustion, not a bound uniform in s. A finite kernel has the constant exhaustion . An arbitrary measure kernel is not assumed to have such an exhaustion.
All these requirements are pointwise in s, not merely almost everywhere for an unspecified measure on S. If T is empty, its only measure is zero, so a probability kernel into T can exist only when S is empty. If S is empty, the kernel requirements are vacuous. The zero kernel is finite. This definition selects no versions and uses no choice axiom.
Measurability of integration against a kernel
Statement
Let K be a finite kernel from to , in particular a probability kernel, or a uniformly sigma-finite kernel with the specified exhaustion of the kernel definition. For every nonnegative -measurable function , the function is -measurable, with infinity allowed. For a real product-measurable f, the set is measurable, and its signed integral on D, extended by zero on , is a measurable real function. No assertion here is made for a general kernel lacking a common measurable finite-mass exhaustion.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Kernel evaluations are measurable and every section is a measure. Measure kernel and probability kernel.
A lambda-system containing a pi-system contains its generated sigma-algebra. Dynkin's pi-lambda theorem.
Nonnegative measurable functions have explicit increasing simple approximations. Every nonnegative measurable function is the increasing limit of simple measurable functions.
Monotone convergence applies to each section measure. Monotone convergence for the integral.
Measurable functions are closed under defined sums, real scalars, nonnegative restriction and increasing limits. Closure properties of measurable functions used by the integral.
Every section of a product-measurable function is measurable. Every section of a product-measurable function is measurable.
Measurable rectangles generate the product sigma-algebra. The product sigma-algebra and its finite iterates.
Proof
First suppose K finite and write . For a product-measurable set E, its section is measurable, by applying the section theorem to its indicator. Let consist of those E for which is measurable. It contains every rectangle , whose evaluation is , and it contains . If E belongs to this class, then and ; both terms are finite measurable real functions, so the difference is measurable. If E_j are disjoint class members, their sections are disjoint and is an increasing limit of measurable finite sums. Thus this class is a lambda-system. Rectangles form a pi-system, so Dynkin's theorem gives every product-measurable E in the class. The measurable-closure proposition can be used on S equipped with its zero measure; its conclusions concern only Sigma and do not require a preexisting source probability.
For a nonnegative simple product-measurable function with disjoint E_j and finite nonnegative coefficients, its section integral is and is measurable by step 1.1. Choose the prescribed increasing simple approximation on the product. For every s the section theorem and monotone convergence give , so the increasing-limit closure proves measurability. No uniform bound in s was used; only the individual finite masses entered the complement calculation.
Now let be the specified common exhaustion. Define . For each s this is the restriction of a measure, its evaluations are measurable by the kernel hypothesis, and . Apply step 2.1 to K_n. Sectionwise integration against the restriction equals integration of against K(s,·): this holds for indicators by definition, for simple functions by finite sums, and for nonnegative functions by monotone convergence. Since , ; another increasing-limit argument proves the result. If T is empty all these integrals are zero; if S is empty the assertion is vacuous.
For real f its positive and negative parts and absolute value are product-measurable. The proved result makes measurable. Therefore is measurable. On D both part integrals are finite since each is at most . Define on D and zero otherwise, and define J_- similarly. Nonnegative measurable restriction makes both J_± measurable; they are finite everywhere. Their real difference is the requested signed integral on D and zero elsewhere. This never subtracts two infinities. For a zero kernel all integrals vanish and D=S, even if f is unbounded; for f=0 the same holds for every permitted kernel. All approximations and the exhaustion are specified; no AC is used.
Composition of probability kernels
Definition
For probability kernels and , their composition, in the order K then L, is
The kernel convention is Measure kernel and probability kernel. The integrand is measurable in t and lies in , so the displayed number exists in . As a function of s it is measurable by Measurability of integration against a kernel, applied to the product-measurable function : its threshold preimages are rectangles . The probability-kernel assertion and associativity are justified by Kernel composition is well defined and associative ↗.
Composition refers to specified pointwise kernels. Almost-everywhere classes alone do not define this formula until representatives and the relevant measures are specified. For an empty source the candidate is the empty map. No choice of versions or assumption of AC enters this definition.
Kernel composition is well defined and associative
Statement
The composition KL of probability kernels and is a probability kernel . If is another probability kernel, then at every source point and every measurable subset of V. Equality concerns the specified kernels, not unspecified almost-everywhere classes.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
The composition candidate is the integral of the second kernel evaluation. Composition of probability kernels.
Integrating a nonnegative jointly measurable function against a probability kernel is measurable. Measurability of integration against a kernel.
An increasing sequence of nonnegative measurable functions passes through each integral. Monotone convergence for the integral.
Nonnegative measurable functions admit increasing simple approximations. Every nonnegative measurable function is the increasing limit of simple measurable functions.
Proof
For each measurable , the function is measurable and between zero and one. Its lift to is product-measurable because inverse images are rectangles with first factor S. The integration theorem therefore gives measurable source evaluations of KL. For a fixed s, and . If are disjoint measurable subsets of U, then , an increasing limit. Monotone convergence and finite additivity of the integral yield . Hence each source section is a probability measure.
Fix s. For every nonnegative measurable , For h=1_A this is exactly the definition. Finite nonnegative linear combinations establish it for simple h. For increasing simple h_n converging to h, monotone convergence first under each L(t,·), then under K(s,·), and also under (KL)(s,·), proves the identity. The inner integrals are measurable by the integration theorem, so every displayed integral is defined. This is an iterated-kernel identity proved locally; it is not an application of product-measure Fubini to a varying measure.
For measurable take the bounded measurable function in step 2.1. Its left side is , while its right side is . Step 1.1 also ensures LM is a probability kernel, so both compositions are defined. This proves the asserted pointwise equality for every s and A. When A is empty both sides are zero; when A=V both are one. For an empty source equality is vacuous. If an intermediate target is empty while its source is nonempty, the hypothesized probability kernel cannot exist; no measure of mass one on the empty set is used. The proof requires no AC.
Conditional probability given a sigma algebra
Definition
Assume AC for conditional-expectation existence. On a probability space , for a sub-sigma-algebra and , define as the almost-everywhere class in Conditional expectation as an ae class. The indicator is integrable since , so Conditional expectation exists by radon nikodym applies. A version is a real integrable -measurable function whose integral over each is .
The The Axiom of Choice hypothesis is inherited from the RN existence proof's maximizing-sequence and Hahn-decomposition selections. It does not select a canonical representative. In particular, choosing a version separately for each event A has not constructed a probability measure on the event space at any fixed sample point. The constant zero and one functions satisfy the testing identities for the empty and whole events respectively. No completion of is part of this definition.
Regular conditional distribution
Definition
Let be a measurable random element and a sub-sigma-algebra. A regular conditional distribution of X given is a probability kernel satisfying
“Probability kernel” has the pointwise meaning of Measure kernel and probability kernel: every is a probability measure, and every evaluation is -measurable. Its evaluations lie in and are integrable. Thus the testing identity says exactly that is a conditional-expectation version of in Conditional expectation given a sigma algebra. Conversely, a probability kernel with these version identities satisfies the displayed definition.
The kernel requirement holds at every sample point. Separate eventwise choices of conditional-expectation versions do not imply it and do not by themselves provide one exceptional set valid for all A. When A is empty the testing identity is zero on both sides, and when A=T it is P(H) on both sides. This defines a property of a supplied kernel and makes no existence or AC assertion.
Regular conditional probability
Definition
Let be a probability space whose sample measurable space is standard Borel in Standard Borel spaces, and let be a sub-sigma-algebra. A regular conditional probability given is a regular conditional distribution, in Regular conditional distribution, of the identity random element .
The identity is measurable because its inverse image of A is A. Written explicitly, this is a probability kernel with
Its target sigma-algebra is the full sample sigma-algebra , while its source sigma-algebra is . Empty and whole target events give zero and one evaluations, respectively. The term here is used under the displayed standard-Borel hypothesis. This definition makes no existence claim on an arbitrary sample measurable space and uses no choice axiom merely to specify the property.
Simultaneous rational conditional distribution function versions
Statement
Assume AC. Let be measurable on a probability space and a sub-sigma-algebra. There are real -measurable versions of for every and one , , such that outside , simultaneously,
Here and the final assertion holds for every rational . The versions may moreover be filled on by , so all these properties hold everywhere.
The proof also establishes the restricted integral interface used here and below: arbitrary nonnegative simple displays give the same integral after zero-complement refinement; the resulting nonnegative integral is monotone, additive, positively homogeneous, has as a separate zero-scalar clause, and satisfies monotone convergence. On a finite measure space, bounded decreasing convergence follows. Under AC, every event has a bounded conditional-density version, unique almost surely, and these versions preserve inclusion, constants, and monotone event limits.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
The simple and nonnegative integrals are respectively the finite coefficient sum with and the supremum over nonnegative simple minorants. The integral of a nonnegative simple function, The nonnegative Lebesgue integral, Integral over a measurable subset.
Every nonnegative measurable function has prescribed increasing simple approximants. Every nonnegative measurable function is the increasing limit of simple measurable functions.
Hahn decomposition applies to the finite signed measures used in the density construction. Hahn decomposition for signed measures, unique up to total-variation-null sets.
Measures are countably additive and continuous from below. Measures on sigma-algebras, Continuity from below for measures.
AC selects maximizing sequences, Hahn decompositions and the rational family of densities. The Axiom of Choice.
The rationals and their finite products are countable. is countably infinite, A product of two at most countable sets is at most countable.
A specified countable union of measurable null sets is null. Finite and countable subadditivity of measures.
Limsup, liminf and convergence sets of measurable functions are measurable. Sequential suprema, infima, limsup, liminf, and pointwise limits of measurable functions are measurable.
Proof
We first repair the integral interface. Given two finite disjoint simple displays , adjoin and , both with coefficient zero. The intersections , now including indices zero, form a finite measurable partition of all of . On every nonempty cell the two coefficients agree, so finite additivity gives equal coefficient sums. This includes infinite-measure zero cells because both corresponding products are the stipulated . Thus the simple integral in [F1] is representation-independent. A common zero-complement refinement now proves monotonicity and additivity for simple functions. For a scalar , termwise multiplication proves positive homogeneity; for , the zero display gives directly, without forming .
The supremum definition in [F1] therefore gives monotonicity of the nonnegative integral and agreement with the simple integral. Multiplication by bijects the simple minorants of and , giving positive homogeneity; again is separate. If , let . For a simple and , put . Then . The formula is a measure by the finite partition formula from step 1.1, so [F4] gives . Since , positive homogeneity gives ; let first and then to obtain . Taking the supremum over proves monotone convergence. Using the approximants in [F2], simple additivity and monotone convergence give . Consequently is a measure: apply monotone convergence to finite unions of a disjoint sequence. If the ambient measure is finite and , then ; additivity in the finite identity proves bounded decreasing convergence.
We next construct conditional densities without importing a conditional-expectation theorem. For an event , set on . Let be the nonnegative measurable satisfying for every , and let . The maximum of two members remains in : split each test event over and its complement and use step 2.1. By [F5] choose with integrals tending to , and put . By F8 the supremum f is measurable. Step 2.1 gives and . The set function is a finite positive measure. If it were not singular to , choose by [F3] a positive set for for every . If every , their union is null by [F7], and on its complement for every , so is concentrated on a -null set, a contradiction. Hence some has positive -measure, and has integral greater than , again a contradiction. Thus . Since , it is also absolutely continuous, so its singular carrier immediately gives . We have proved for all .
Since , the sets show that almost surely. Comparing on shows that almost surely. Changing on the measurable union of these null sets gives a real -valued density. If represent and , then on , step 2.1 gives whereas the representation identities give . Hence for every , so almost surely. Taking in both directions proves uniqueness; proves the constant-zero and constant-one assertions. For , set all selected densities to zero on the countable union of their order failures and put . Step 2.1 and [F4] give , so uniqueness identifies with the density of . Decreasing event limits follow by applying this to complements and using , an instance of the finite additivity from step 2.1. This proves every restricted conditional-density assertion in the statement.
Apply step 3.1 to and use [F5] to select one real -measurable density for each rational . The selection is countable by [F6]. Step 4.1 gives almost surely and almost surely whenever . Since , , and , the event-limit clause of step 4.1 gives the two tail limits and every rational right-limit almost surely.
Form the union of the failure sets for the bounds, rational order comparisons, two tail limits, and the right-limit assertion for each rational . They belong to by rational-cut descriptions and [F8], and they are null by step 5.1. There are countably many by [F6], so [F7] gives . Replace each on by . Pasting preserves measurability. A bounded difference supported on N has absolute value at most a constant times , whose integral is zero by step 2.1, so all event integrals are unchanged and the functions remain versions. The filler is increasing, has the required tails, and satisfies the right-limit property also at .
Rational conditional distribution functions produce real regular kernels
Statement
Assume AC. Let be a real random variable on , and . Rational versions and as in Simultaneous rational conditional distribution function versions determine a probability kernel with
For every Borel and ,
Thus is a regular conditional distribution of , everywhere a probability measure.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
There are rational conditional versions with simultaneous bounds, monotonicity, tails and rational right limits; the same lemma locally establishes monotone convergence and bounded decreasing convergence from the repaired simple-integral foundation. Simultaneous rational conditional distribution function versions.
Under countable choice, a nondecreasing right-continuous function with tails zero and one has a Borel probability with the prescribed closed-half-line values. Only this existence clause is used; uniqueness is proved locally below. Probability laws correspond to distribution functions.
A lambda-system containing a pi-system contains its generated sigma-algebra. Dynkin's pi-lambda theorem.
Rational right rays, and therefore their closed-left-ray complements, generate the Borel sets. Seven generating families for the Borel sigma-algebra on the real line.
Countable infima and pointwise limits are measurable. Sequential suprema, infima, limsup, liminf, and pointwise limits of measurable functions are measurable.
AC supplies the preceding version selection and countable choice for CDF existence; unique specification needs no further choice. The Axiom of Choice.
Between any two distinct reals lies a rational. The rationals embed densely in the reals.
The rationals admit a fixed enumeration. is countably infinite.
Proof
Use the everywhere good filled data of [F1], writing them again . For fixed , put . The index set is nonempty by F7 and countable by F8. Its values lie in , and shrinking it as increases shows monotonicity. For rational , monotonicity of the data gives for every positive integer , so the rational right-limit condition gives . In particular and , and monotonicity gives both real tail limits.
If , monotonicity gives a limit . For every rational , eventually , so and . Taking the infimum gives . In particular the sequence proves right continuity. By the existence clause of [F2] there is a Borel probability with CDF . If are two such probabilities, the equality class contains and every closed half-line, is closed under complements by subtraction from the common finite total one, and is closed under countable disjoint unions by countable additivity. It is a lambda-system containing the closed-half-line pi-system, whose generated sigma-algebra is Borel by [F4]; [F3] gives . Thus the probability is locally proved unique and defines without a family choice. On its CDF is , so the same uniqueness identifies it with .
For fixed real , [F5] makes a -measurable countable infimum. Using F7 and the fixed enumeration in F8, choose recursively the first enumerated rational and then the first ; thus . Step 2.1 and rational agreement give . The bounded decreasing-convergence clause locally proved in [F1], applied on , gives The last indicator limit includes the point .
Let be the Borel sets for which is -measurable and the stated identity holds for every . It contains . Complements use and subtraction from the finite total . For pairwise disjoint , countable additivity of each section gives the union evaluation as the increasing limit of finite partial sums. This is measurable by [F5], and the locally proved monotone convergence in [F1] gives the event identity. Hence is a lambda-system containing the closed-half-line pi-system from step 3.1. By [F3] and [F4] it contains every Borel set. The measurable evaluations and probability sections prove both kernel axioms and the full conditional identity.
Existence of regular conditional distributions for standard borel targets
Statement
Assume AC. Let be a measurable random element with standard-Borel target, and let be any sub-sigma-algebra. There exists a regular conditional distribution of given . Every section is a probability measure, including at exceptional sample points, and no countable-generation or completeness assumption on is required.
For this necessarily nonempty target, the construction also supplies a bimeasurable bijection onto a Borel set , and a countable algebra which generates , separates points, and determines finite measures.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
An everywhere probability kernel is a regular conditional distribution precisely when all conditioning-event identities hold. Regular conditional distribution.
A real random variable has an everywhere probability kernel with every Borel conditional identity, using the locally repaired integral interface. Rational conditional distribution functions produce real regular kernels, Simultaneous rational conditional distribution function versions.
A standard-Borel presentation is a measurable isomorphism with a Polish space; bounded remetrisation preserves its topology. Standard Borel spaces, and are metrics uniformly equivalent to , so every metric space carries a bounded metric with the same topology.
Finite-coordinate cylinders generate the cube topology, and the relevant geometric series converge. The product set of functions choosing a point in each factor, the projections, the box topology, and the product topology as the initial topology of the projections; the empty product is a one-point space, For , , and for the series diverges, The reals are complete.
Under DC, a completely metrizable subspace of a metric space is . Under Dependent Choice, every completely metrizable subspace of a metric space is .
The Hilbert cube has an explicit bimeasurable coding onto a Borel subset of . Hilbert cube has a bimeasurable real coding.
Rational cuts generate the real Borel sigma-algebra, rationals are countable and separate reals, and pi-lambda proves finite-measure determination. Seven generating families for the Borel sigma-algebra on the real line, is countably infinite, The rationals embed densely in the reals, Dynkin's pi-lambda theorem.
Under countable choice, a countable union of finite sets is countable. Countable unions of at most countable sets, assuming , The Axiom of Countable Choice ().
AC supplies the metric and dense-set witnesses, their enumeration, DC, countable choice, and the choices in the real-kernel construction. The Axiom of Choice.
Proof
The probability space is nonempty, so the existence of makes nonempty. By [F3] fix a Borel isomorphism , where has a complete compatible metric and a countable dense set. Use [F9] to enumerate that set as and put . A -Cauchy sequence is eventually at -distance below one, hence is -Cauchy; its -limit is also its -limit. Thus is complete and compatible. Define Each coordinate is one-Lipschitz. If , choose with ; the reverse triangle inequality makes the th distances different, so is injective. It is continuous by the initial description of the product topology. Its inverse on is continuous: for , choose with ; if and , then . Hence is a homeomorphism onto its image, with the inverse-continuity estimate explicit.
On set . The geometric tail bound makes this finite; termwise separation and the triangle inequality make it a metric. A -ball controls every prescribed finite set of coordinates because . Conversely, after choosing with , sufficiently small restrictions on the first coordinates force . Thus induces the product topology. A -Cauchy sequence is Cauchy in every coordinate, whose limit lies in by completeness of the reals; a finite-head plus geometric-tail estimate proves convergence in . Therefore is complete. The image is completely metrizable by transport of . AC supplies DC by choosing a successor for every admissible finite history and iterating, so [F5] makes a , hence Borel, subset of .
Let be [F6]. Since is measurable and is Borel, is Borel in and hence in . Restricting and its inverse shows that is bimeasurable. For , set . Let be the finite Boolean algebra generated by the first rational cuts in a fixed enumeration and . By [F8] and [F9], is countable; it is an algebra and generates by [F7] and bimeasurability. Rational separation and injectivity of show that it separates points. If finite measures agree on , their equality class is a lambda-system: complements subtract from their common finite total and disjoint unions use countable additivity. It contains the pi-system , so [F7] gives equality on . This proves the two auxiliary conclusions without using either affected published standard-Borel interface.
Fix and put . By [F2] it has an everywhere real conditional probability kernel . The evaluation is -measurable and . Since , its conditional identity gives . The repaired finite-additivity interface in [F2] gives ; for each integer , on monotonicity gives . Thus is measurable and null. Define Bimeasurability makes Borel in the real line, so every evaluation is measurable. Off , injectivity and give a probability on ; on the filler is Dirac. The two evaluations differ only on a measurable null set, and the local null-integral clause in [F2] gives By [F1], is the required everywhere regular conditional distribution.
Simultaneous ae uniqueness of regular conditional distributions
Statement
Assume AC for the countable determining-algebra supplier. If are regular conditional distributions of the same standard-Borel-valued random element given , there is one with such that as measures for every .
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Each event evaluation is a real bounded conditional-expectation version. Regular conditional distribution.
The repaired in-batch standard-Borel construction supplies a countable algebra which generates the target sigma-algebra and determines finite measures. Existence of regular conditional distributions for standard borel targets.
The repaired local integral interface is monotone and additive for nonnegative functions and positively homogeneous without a zero-times-infinity product. Simultaneous rational conditional distribution function versions.
AC supplies real coding and the countable-choice algebra enumeration in the determining-algebra theorem. The Axiom of Choice.
A countable union of measurable null sets is null. Finite and countable subadditivity of measures.
Proof
Fix the countable determining algebra from [F2], whose AC hypothesis is [F4]. For , put and . By [F1], both are -valued and have equal integrals on every . For , the set belongs to . Monotonicity, additivity and positive homogeneity from [F3] give Equality of the two event integrals forces . The same argument with interchanged shows that is null. Their countable union is the measurable discrepancy set , so is null. This proves the needed scalar uniqueness locally, without importing conditional-expectation uniqueness.
The set is in and null by countability and [F5]. For any the two probability measures agree on every member of . Their total masses are finite, so the locally supplied determination assertion [F2] yields equality on the entire target sigma-algebra. This gives a single exceptional set independent of the target event.
Conditional integration through a regular conditional law
Statement
Let be a specified regular conditional distribution of given . For measurable , the measurable function satisfies
This assertion is choice-free. Under AC, it says as nonnegative almost-sure classes. If is measurable and , put . Then , , and the signed integral on , extended by zero off , is a real integrable conditional-expectation version of . Its identification with the AC-based conditional-expectation class uses AC only for that class convention.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Kernel event evaluations satisfy every conditioning-event identity. Regular conditional distribution.
A probability kernel integrates nonnegative measurable functions measurably and gives measurable zero-filled signed integrals on the absolute-integrability set. Measurability of integration against a kernel.
Increasing nonnegative limits pass through every section integral and every event integral. Monotone convergence for the integral.
Nonnegative measurable functions have an explicit increasing simple approximation. Every nonnegative measurable function is the increasing limit of simple measurable functions.
Under AC nonnegative conditional classes are characterized by all conditional event identities. Conditional monotone convergence.
The real integrable version is unique up to almost-sure equality. Conditional expectation is unique almost surely.
AC is used only for the inherited conditional-class existence convention (RN selections and nonnegative truncations). The Axiom of Choice.
For real |f|, the absolute expectation also equals its integral against the law of X. Change of variables for expectation.
Proof
For , the assertion is [F1]. If is nonnegative simple with disjoint measurable and finite coefficients, then , so finite additivity of integrals proves the identity by summing the indicator identities. It includes the empty sum, giving , and , giving .
For general nonnegative , choose the prescribed simple approximants of [F4]. For every , [F3] for the probability gives . The function is product-measurable since inverse images are ; thus [F2] ensures -measurability of . Applying [F3] on each on both sides of step 1.1 proves the displayed identity, allowing infinity. No representative selection or AC occurred. If using conditional-class notation, [F5] identifies this characterized nonnegative function with the class, under [F7].
For real with , step 2.1 at and gives . Also by [F8], checking the equivalent law integrability condition. The set is measurable. For every positive integer , , hence . On , both are finite and their difference is the signed integral. Fill by zero off ; it is real measurable by [F2], and on , so is integrable. The two nonnegative identities from step 2.1 have finite integrals, at most , so subtraction gives . Removing changes neither integral, since it is measurable null. Thus is a conditional version; [F6] gives its almost-sure uniqueness, and [F7] supplies only the inherited class notation. No infinity is subtracted from infinity.
Conditional law given a random element
Definition
Let and be measurable random elements. A conditional law of X given Y is a probability kernel such that is a regular conditional distribution of X given in Regular conditional distribution. Thus for every and ,
Composition with Y makes each evaluation -measurable, and every section remains a probability by Measure kernel and probability kernel. The notation refers to a chosen kernel; it is not a ratio involving the possibly zero probability .
Write for the law in Law or distribution of a random element. If a specified countable family determines probability measures, two conditional laws K,L agree as measures outside a single -measurable -null set. Indeed for each the measurable discrepancy has null inverse image under Y by Conditional expectation is unique almost surely. Hence by the law definition; the countable union is null by Finite and countable subadditivity of measures, and off D the determining property gives equality of measures. This uses a supplied determining family and makes no AC assertion about obtaining one.
Values on a measurable -null subset may be replaced by a specified fixed probability on E without changing these identities. The inverse image of that subset is measurable null, and all event evaluations are bounded, so the modified event integrals agree. Empty-event evaluations remain zero and whole-target evaluations remain one. Existence on standard-Borel spaces is proved separately; the definition alone does not assert a conditional kernel exists.
Regular conditional kernels factor through a standard borel conditioning variable
Statement
Assume AC. Let and take values in nonempty standard-Borel spaces and on a probability space . Let be a specified regular conditional distribution of given , everywhere a probability kernel. There is a probability kernel such that simultaneously outside a single null set. In fact, with the stated everywhere-kernel convention, the construction below gives this equality for every . Consequently K is a conditional law of X given Y.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
A kernel K is a conditional law when its composition with Y satisfies the regular conditional identities. Conditional law given a random element.
The repaired in-batch standard-Borel construction codes E bimeasurably onto a Borel B in [0,1]. Existence of regular conditional distributions for standard borel targets.
CDFs of Borel probabilities are right-continuous with tails zero and one, and under countable choice every such function has a Borel probability. Uniqueness is proved locally below. Probability laws correspond to distribution functions.
Measurable evaluations extend from a generating pi-system by a lambda-system argument. Dynkin's pi-lambda theorem.
Rational closed-left cuts generate the real Borel sets by complementation of rational open-right rays. Seven generating families for the Borel sigma-algebra on the real line.
Limsup, infima and limit tests of measurable functions are measurable. Sequential suprema, infima, limsup, liminf, and pointwise limits of measurable functions are measurable.
Rational indices can be enumerated. is countably infinite.
Finite products of countable index sets are countable by iteration. A product of two at most countable sets is at most countable.
AC selects countably many measurable preimage lifts and supplies coding and countable-choice CDF existence. The Axiom of Choice.
Proof
Fix and the coding supplied by [F2]. Write and . The family is already a sigma-algebra and equals . For each rational q, integer and , lift the event to , and lift to . Choose this countable family using [F7]–[F9]. Set By [F6] these functions are measurable. On the image of Y the lifted bins are disjoint, so is the dyadic lower approximation to , exact at one. Hence everywhere.
Let consist of y for which all rational comparisons for , tails , , and right limits hold. By [F6]–[F8], this is measurable. For every , the pushforward is a Borel probability whose rational CDF values are . The forward CDF clause of [F3] gives all the tests, so . Replace off by and call the result .
For , define . As in the real-kernel construction, it is nondecreasing, has tails zero and one, agrees with at every rational r, and is right-continuous. The existence clause of [F3], under [F9], gives a Borel probability with this CDF. It is unique locally: the equality class of two candidates is a lambda-system containing the closed-half-line pi-system, so [F4] and [F5] give equality on all Borel sets. Hence no family choice is needed. Fixed half-line evaluations are measurable by [F6]. The class of Borel C with measurable contains those half-lines and the whole line, is closed under complements, and is closed under disjoint unions because sectionwise countable additivity expresses the evaluation as a measurable pointwise limit of partial sums. Thus [F4]–[F6] give all Borel C, producing an everywhere real probability kernel without a measure on T.
At , the probabilities and agree at every rational closed cut. Their equality class is a lambda-system, and those cuts form a pi-system generating the Borel sets by F5, so F4 gives directly. Thus the measurable set contains the full image of Y. Put Bimeasurability makes each evaluation measurable; support on B and the Dirac filler make every section a probability. For every , , so the exceptional set is empty and substitution in L's identities proves [F1].
Disintegration of a joint law on standard borel spaces
Statement
Assume AC. Let be a probability on , where E and T are standard-Borel spaces, and let be its second marginal. There is a probability kernel such that
It is unique as a kernel outside a single measurable -null set. For every nonnegative product-measurable ,
In particular this applies to the joint law of random elements , with ; the direction is the law of X given Y.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Under AC the first coordinate has an everywhere RCD given the second-coordinate sigma-algebra; the same repaired construction supplies a countable determining algebra on E. Existence of regular conditional distributions for standard borel targets.
Such a kernel factors through Y under AC. Regular conditional kernels factor through a standard borel conditioning variable.
Two RCDs of the same standard-Borel variable agree as measures almost surely. Simultaneous ae uniqueness of regular conditional distributions.
The repaired local integral interface supplies nonnegative additivity, monotone convergence, and bounded decreasing convergence. Simultaneous rational conditional distribution function versions.
A lambda-system containing rectangles contains the product sigma-algebra. Dynkin's pi-lambda theorem.
Prescribed nonnegative simple approximants increase pointwise to every nonnegative measurable test. Every nonnegative measurable function is the increasing limit of simple measurable functions.
Pointwise limits of measurable functions are measurable. Sequential suprema, infima, limsup, liminf, and pointwise limits of measurable functions are measurable.
AC supplies RCD existence, bin-lift factorization and the countable determining algebra. The Axiom of Choice.
Proof
On use the coordinate maps X and Y. Both targets are nonempty because the product carries a probability. By [F1], X has an RCD L given ; by [F2] it factors as for a probability kernel K. The RCD identity gives . We prove the needed marginal substitution locally. For , Finite additivity from [F4] gives this for nonnegative simple g; apply [F6] and the local monotone convergence [F4] to get it for every nonnegative measurable g. Taking yields the rectangle formula.
We also prove kernel-integral measurability locally. Let be the product-measurable sets C for which every section belongs to and is measurable. It contains rectangles: each section is A or empty and its evaluation is . It contains the whole product. Under complements, is measurable and its evaluation is . Under pairwise disjoint countable unions, the sections are measurable disjoint unions, while sectionwise countable additivity gives the evaluation as a pointwise limit of measurable partial sums, measurable by [F7]. Thus [F5] gives both properties for every product event. Let be the product events satisfying the iterated indicator identity. It contains rectangles by step 1.1 and the whole product by normalization. Complements subtract from the finite total one. For disjoint , sectionwise countable additivity and monotone convergence from [F4], first under and then under , prove the union identity. Hence [F5] gives every product event.
Finite nonnegative combinations of step 2.1 give both measurability and the iterated formula for nonnegative simple f. For arbitrary nonnegative f, use the prescribed of [F6]. Apply the locally proved monotone convergence [F4] under , in every probability section K, and then under . By [F7] the inner limit is measurable. These passages give the displayed formula, including value infinity, with no subtraction.
If K and J both satisfy the rectangle formula, their compositions with Y are RCDs of X given : the collection is already a sigma-algebra. By [F3], they agree as measures outside one -null set. Fix the countable determining algebra supplied by [F1] and set . This set is measurable. Its preimage under Y lies in the exceptional set from [F3], so . Off D the probabilities agree on , hence on every event by its locally proved determining property. If the joint law comes from actual X,Y, the rectangle calculation gives the same conditional-law assertion.
Conditional expectation as a measurable function of the conditioning variable
Statement
Assume AC. Let X,Y take values in standard-Borel E,T, and let K be a disintegration kernel giving the conditional law of X given Y. For measurable , put . Then h is measurable and
For measurable real f with , define and use the signed integral for h on D, zero off D. Then , h is real measurable, and the same identity holds.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Under AC a disintegration kernel has the rectangle and all nonnegative joint-test identities. Disintegration of a joint law on standard borel spaces.
A specified RCD integrates nonnegative or integrable tests to conditional-expectation versions. Conditional integration through a regular conditional law.
Probability-kernel integration is measurable, including signed integration with zero filling. Measurability of integration against a kernel.
AC covers disintegration existence and the inherited conditional-expectation class convention. The Axiom of Choice.
Proof
The product function is measurable by the rectangle inverse-image test. Thus [F3] makes h measurable. The rectangle identities of [F1] make an RCD of X given , since the events of that sigma-algebra are exactly inverse images of measurable Y-events. Applying [F2] to this L gives as classes, under [F4]. The integral on the left is h(Y) by its definition, which proves the nonnegative clause, allowing infinity.
For real f, [F3] makes and measurable and makes the zero-filled signed h real measurable. The nonnegative test identity of [F1] gives . For every integer , , hence . Its inverse image under Y is null by the marginal definition. On that inverse-image complement the signed integral through L is h(Y), and on it both zero-fill conventions agree. The signed clause of [F2] therefore proves the stated real integrable conditional identity. Values at any fixed marginal-null fibre are not prescribed by this almost-sure identity.
Conditional density formula
Statement
Let and be sigma-finite measure spaces. Let a joint probability on have nonnegative product-measurable density relative to . A fixed probability on is supplied. Put
Then K is an everywhere probability kernel from T to E. If is the second marginal of , then and
For any random elements X,Y with joint law , is a regular conditional distribution of X given . These event identities require no AC. If interpreted with the library's conditional-expectation class existence convention, assume AC. Neither zero nor infinite marginal-density fibres are normalized by the displayed quotient.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
Probability-kernel sections must have mass one at every source point and measurable evaluations. Measure kernel and probability kernel.
Nonnegative product-measurable functions on the stated sigma-finite spaces have measurable section integrals and equal iterated integrals. Tonelli's theorem for nonnegative measurable functions on a sigma-finite product.
Each nonnegative measurable section density defines a measure. The indefinite integral of a nonnegative measurable function is a measure.
All conditioning-event identities characterize a supplied RCD. Regular conditional distribution.
Bounded measurable functions of Y integrate against its marginal. Change of variables for expectation.
AC is only for the inherited conditional-class existence notation, not for the density construction with supplied rho. The Axiom of Choice.
Integrating against a density measure equals integrating the product. Integrating against a density agrees with integrating the product.
Proof
By [F2], m is measurable and . For each measurable B, apply [F2] to to obtain . Put and . Then . Also for all , so ; the nonnegative integral over this measurable null set is zero, even though m is infinite there, giving . Therefore is measurable and has full marginal mass. No finite value of m at each point follows from total integrability.
For , let . Tonelli applied to makes measurable. It satisfies everywhere. On D both are finite and the denominator is positive, so is a measurable real function there; reciprocal and multiplication are continuous on this finite positive domain. Pasting the constant off D proves measurable evaluations of K. For each , [F2] ensures that is measurable and [F3] makes a measure of mass m(y); dividing by this finite positive number gives a probability. Off D, K is the supplied probability . This proves [F1], including the empty-event and whole-target evaluations.
For measurable A,B, the contribution of to the K-integral under is zero because and . On D the density conversion [F7] and give On Z, since ; on I its integral is zero because I is -null. Thus the last integral is , which equals by [F2]. All cancellation was restricted to finite positive m.
If X,Y have joint law , [F5] applied to the bounded measurable function converts step 3.1 into The collection of inverse images is already a sigma-algebra and is exactly . These are therefore all required conditioning events. Measurability and probability sections follow from step 2.1 under composition with Y, so [F4] proves the RCD assertion. The proof selected no points, versions or exhaustion: the sigma-finite measures, product density and filler probability are supplied. [F6] is required only when using the library conditional-class existence convention.
Bayes formula for dominated kernels
Statement
Let be a prior probability on and let be a probability kernel dominated by a sigma-finite measure on , with specified nonnegative jointly measurable density :
Define . Under the joint law with density relative to , a conditional law of the parameter given the observation is
The observation marginal is , and the filled fibres have marginal mass zero. This is a choice-free assertion about the explicit kernel and event identities.
Facts & Assumptions
Given: The hypotheses and conventions in the statement.
A jointly measurable joint density gives a conditional kernel with fixed probability filling on both zero and infinite normalizers. Conditional density formula.
Tonelli evaluates the total joint mass and its rectangles on the sigma-finite product. Tonelli's theorem for nonnegative measurable functions on a sigma-finite product.
Every likelihood section has probability mass one. Measure kernel and probability kernel.
The nonnegative joint density defines a measure. The indefinite integral of a nonnegative measurable function is a measure.
Proof
The measure is finite and therefore sigma-finite; is sigma-finite by hypothesis. For each , [F3] and the specified density identity give . By [F4] the formula defines a measure. Tonelli [F2] gives Thus it is a joint probability. For a rectangle , the same theorem gives , so its first marginal is exactly the prior.
Apply [F1] with , density , and supplied filler . All hypotheses were checked in step 1.1: the product is sigma-finite, the density is jointly measurable and nonnegative, and its total mass is one. The resulting normalizer is exactly m and the resulting kernel is the displayed K. The theorem gives its measurable evaluations, pointwise probability sections, marginal , and . It also gives and hence the conditional law on the coordinate probability space. In particular and both on good fibres and on filled fibres. No quotient at either excluded endpoint is used.
5 · Examples, counterexamples and false statements
None yet.