Average and Quantile Effects in Nonseparable Panel Models

Nonseparable panel models are important in a variety of economic settings, including discrete choice. This paper gives identification and estimation results for nonseparable models under time‐homogeneity conditions that are like “time is randomly assigned” or “time is an instrument.” Partial‐identification results for average and quantile effects are given for discrete regressors, under static or dynamic conditions, in fully nonparametric and in semiparametric models, with time effects. It is shown that the usual, linear, fixed‐effects estimator is not a consistent estimator of the identified average effect, and a consistent estimator is given. A simple estimator of identified quantile treatment effects is given, providing a solution to the important problem of estimating quantile treatment effects from panel data. Bounds for overall effects in static and dynamic models are given. The dynamic bounds provide a partial‐identification solution to the important problem of estimating the effect of state dependence in the presence of unobserved heterogeneity. The impact of T, the number of time periods, is shown by deriving shrinkage rates for the identified set as T grows. We also consider semiparametric, discrete‐choice models and find that semiparametric panel bounds can be much tighter than nonparametric bounds. Computationally convenient methods for semiparametric models are presented. We propose a novel inference method that applies in panel data and other settings and show that it produces uniformly valid confidence regions in large samples. We give empirical illustrations.     

Swapping the Nested Fixed Point Algorithm: A Class of Estimators for Discrete Markov Decision Models

This paper proposes a new nested algorithm (NPL) for the estimation of a class of discrete Markov decision models and studies its statistical and computational properties. Our method is based on a representation of the solution of the dynamic programming problem in the space of conditional choice probabilities. When the NPL algorithm is initialized with consistent nonparametric estimates of conditional choice probabilities, successive iterations return a sequence of estimators of the structural parameters which we call K–stage policy iteration estimators. We show that the sequence includes as extreme cases a Hotz–Miller estimator (for K=1) and Rust's nested fixed point estimator (in the limit when K→∞). Furthermore, the asymptotic distribution of all the estimators in the sequence is the same and equal to that of the maximum likelihood estimator. We illustrate the performance of our method with several examples based on Rust's bus replacement model. Monte Carlo experiments reveal a trade–off between finite sample precision and computational cost in the sequence of policy iteration estimators.     

Sequential Estimation of Dynamic Discrete Games

This paper studies the estimation of dynamic discrete games of incomplete information. Two main econometric issues appear in the estimation of these models: the indeterminacy problem associated with the existence of multiple equilibria and the computational burden in the solution of the game. We propose a class of pseudo maximum likelihood (PML) estimators that deals with these problems, and we study the asymptotic and finite sample properties of several estimators in this class. We first focus on two‐step PML estimators, which, although they are attractive for their computational simplicity, have some important limitations: they are seriously biased in small samples; they require consistent nonparametric estimators of players' choice probabilities in the first step, which are not always available; and they are asymptotically inefficient. Second, we show that a recursive extension of the two‐step PML, which we call nested pseudo likelihood (NPL), addresses those drawbacks at a relatively small additional computational cost. The NPL estimator is particularly useful in applications where consistent nonparametric estimates of choice probabilities either are not available or are very imprecise, e.g., models with permanent unobserved heterogeneity. Finally, we illustrate these methods in Monte Carlo experiments and in an empirical application to a model of firm entry and exit in oligopoly markets using Chilean data from several retail industries.     

Irregular Identification,Support Conditions,and Inverse Weight Estimation

In weighted moment condition models, we show a subtle link between identification and estimability that limits the practical usefulness of estimators based on these models. In particular, if it is necessary for (point) identification that the weights take arbitrarily large values, then the parameter of interest, though point identified, cannot be estimated at the regular (parametric) rate and is said to be irregularly identified. This rate depends on relative tail conditions and can be as slow in some examples as n^−1/4. This nonstandard rate of convergence can lead to numerical instability and/or large standard errors. We examine two weighted model examples: (i) the binary response model under mean restriction introduced by Lewbel (1997) and further generalized to cover endogeneity and selection, where the estimator in this class of models is weighted by the density of a special regressor, and (ii) the treatment effect model under exogenous selection (Rosenbaum and Rubin (1983)), where the resulting estimator of the average treatment effect is one that is weighted by a variant of the propensity score. Without strong relative support conditions, these models, similar to well known “identified at infinity” models, lead to estimators that converge at slower than parametric rate, since essentially, to ensure point identification, one requires some variables to take values on sets with arbitrarily small probabilities, or thin sets. For the two models above, we derive some rates of convergence and propose that one conducts inference using rate adaptive procedures that are analogous to Andrews and Schafgans (1998) for the sample selection model.     

Identification and Estimation of Regression Models with Misclassification

This paper studies the problem of identification and estimation in nonparametric regression models with a misclassified binary regressor where the measurement error may be correlated with the regressors. We show that the regression function is nonparametrically identified in the presence of an additional random variable that is correlated with the unobserved true underlying variable but unrelated to the measurement error. Identification for semiparametric and parametric regression functions follows straightforwardly from the basic identification result. We propose a kernel estimator based on the identification strategy, derive its large sample properties, and discuss alternative estimation procedures. We also propose a test for misclassification in the model based on an exclusion restriction that is straightforward to implement.     

Nonparametric Estimation with Nonlinear Budget Sets

Choice models with nonlinear budget sets provide a precise way of accounting for the nonlinear tax structures present in many applications. In this paper we propose a nonparametric approach to estimation of these models. The basic idea is to think of the choice, in our case hours of labor supply, as being a function of the entire budget set. Then we can do nonparametric regression where the variable in the regression is the budget set. We reduce the dimensionality of this problem by exploiting structure implied by utility maximization with piecewise linear convex budget sets. This structure leads to estimators where the number of segments can differ across observations and does not affect accuracy. We give consistency and asymptotic normality results for these estimators. The usefulness of the estimator is demonstrated in an empirical example, where we find it has a large impact on estimated effects of the Swedish tax reform.     

Dummy Endogenous Variables in Weakly Separable Models

In this paper, we consider the nonparametric identification and estimation of the average effect of a dummy endogenous regressor in models where the regressors are weakly but not additively separable from the error term. The model is not required to be strictly increasing in the error term, and the class of models considered includes limited dependent variable models such as discrete choice models. Conditions are established conditions under which it is possible to identify the average effect of the dummy endogenous regressor in a weakly separable model without relying on parametric functional form or distributional assumptions and without the use of large support conditions.     

Identification and Estimation of a Discrete Game of Complete Information

We discuss the identification and estimation of discrete games of complete information. Following Bresnahan and Reiss (1990, 1991), a discrete game is a generalization of a standard discrete choice model where utility depends on the actions of other players. Using recent algorithms to compute all of the Nash equilibria to a game, we propose simulation‐based estimators for static, discrete games. We demonstrate that the model is identified under weak functional form assumptions using exclusion restrictions and an identification at infinity approach. Monte Carlo evidence demonstrates that the estimator can perform well in moderately sized samples. As an application, we study entry decisions by construction contractors to bid on highway projects in California. We find that an equilibrium is more likely to be observed if it maximizes joint profits, has a higher Nash product, uses mixed strategies, and is not Pareto dominated by another equilibrium.     

Nonstationary Binary Choice

This paper develops an asymptotic theory for time series binary choice models with nonstationary explanatory variables generated as integrated processes. Both logit and probit models are covered. The maximum likelihood (ML) estimator is consistent but a new phenomenon arises in its limit distribution theory. The estimator consists of a mixture of two components, one of which is parallel to and the other orthogonal to the direction of the true parameter vector, with the latter being the principal component. The ML estimator is shown to converge at a rate of n^3/4 along its principal component but has the slower rate of n^1/4 convergence in all other directions. This is the first instance known to the authors of multiple convergence rates in models where the regressors have the same (full rank) stochastic order and where the parameters appear in linear forms of these regressors. It is a consequence of the fact that the estimating equations involve nonlinear integrable transformations of linear forms of integrated processes as well as polynomials in these processes, and the asymptotic behavior of these elements is quite different. The limit distribution of the ML estimator is derived and is shown to be a mixture of two mixed normal distributions with mixing variates that are dependent upon Brownian local time as well as Brownian motion. It is further shown that the sample proportion of binary choices follows an arc sine law and therefore spends most of its time in the neighborhood of zero or unity. The result has implications for policy decision making that involves binary choices and where the decisions depend on economic fundamentals that involve stochastic trends. Our limit theory shows that, in such conditions, policy is likely to manifest streams of little intervention or intensive intervention.     

Estimation of Nonparametric Models With Simultaneity

We introduce methods for estimating nonparametric, nonadditive models with simultaneity. The methods are developed by directly connecting the elements of the structural system to be estimated with features of the density of the observable variables, such as ratios of derivatives or averages of products of derivatives of this density. The estimators are therefore easily computed functionals of a nonparametric estimator of the density of the observable variables. We consider in detail a model where to each structural equation there corresponds an exclusive regressor and a model with one equation of interest and one instrument that is included in a second equation. For both models, we provide new characterizations of observational equivalence on a set, in terms of the density of the observable variables and derivatives of the structural functions. Based on those characterizations, we develop two estimation methods. In the first method, the estimators of the structural derivatives are calculated by a simple matrix inversion and matrix multiplication, analogous to a standard least squares estimator, but with the elements of the matrices being averages of products of derivatives of nonparametric density estimators. In the second method, the estimators of the structural derivatives are calculated in two steps. In a first step, values of the instrument are found at which the density of the observable variables satisfies some properties. In the second step, the estimators are calculated directly from the values of derivatives of the density of the observable variables evaluated at the found values of the instrument. We show that both pointwise estimators are consistent and asymptotically normal.     

Asymptotic Properties for a Class of Partially Identified Models

We propose inference procedures for partially identified population features for which the population identification region can be written as a transformation of the Aumann expectation of a properly defined set valued random variable (SVRV). An SVRV is a mapping that associates a set (rather than a real number) with each element of the sample space. Examples of population features in this class include interval‐identified scalar parameters, best linear predictors with interval outcome data, and parameters of semiparametric binary models with interval regressor data. We extend the analogy principle to SVRVs and show that the sample analog estimator of the population identification region is given by a transformation of a Minkowski average of SVRVs. Using the results of the mathematics literature on SVRVs, we show that this estimator converges in probability to the population identification region with respect to the Hausdorff distance. We then show that the Hausdorff distance and the directed Hausdorff distance between the population identification region and the estimator, when properly normalized by , converge in distribution to functions of a Gaussian process whose covariance kernel depends on parameters of the population identification region. We provide consistent bootstrap procedures to approximate these limiting distributions. Using similar arguments as those applied for vector valued random variables, we develop a methodology to test assumptions about the true identification region and its subsets. We show that these results can be used to construct a confidence collection and a directed confidence collection. Those are (respectively) collection of sets that, when specified as a null hypothesis for the true value (a subset of values) of the population identification region, cannot be rejected by our tests.     

Estimation and Confidence Regions for Parameter Sets in Econometric Models1

This paper develops a framework for performing estimation and inference in econometric models with partial identification, focusing particularly on models characterized by moment inequalities and equalities. Applications of this framework include the analysis of game‐theoretic models, revealed preference restrictions, regressions with missing and corrupted data, auction models, structural quantile regressions, and asset pricing models. Specifically, we provide estimators and confidence regions for the set of minimizers Θ_I of an econometric criterion function Q(θ). In applications, the criterion function embodies testable restrictions on economic models. A parameter value θthat describes an economic model satisfies these restrictions if Q(θ) attains its minimum at this value. Interest therefore focuses on the set of minimizers, called the identified set. We use the inversion of the sample analog, Q_n(θ), of the population criterion, Q(θ), to construct estimators and confidence regions for the identified set, and develop consistency, rates of convergence, and inference results for these estimators and regions. To derive these results, we develop methods for analyzing the asymptotic properties of sample criterion functions under set identification.     

Sequential Estimation of Structural Models With a Fixed Point Constraint

This paper considers the estimation problem of structural models for which empirical restrictions are characterized by a fixed point constraint, such as structural dynamic discrete choice models or models of dynamic games. We analyze a local condition under which the nested pseudo likelihood (NPL) algorithm converges to a consistent estimator, and derive its convergence rate. We find that the NPL algorithm may not necessarily converge to a consistent estimator when the fixed point mapping does not have a local contraction property. To address the issue of divergence, we propose alternative sequential estimation procedures that can converge to a consistent estimator even when the NPL algorithm does not.     

Instrumental Variable Models for Discrete Outcomes

Single equation instrumental variable models for discrete outcomes are shown to be set identifying, not point identifying, for the structural functions that deliver the values of the discrete outcome. Bounds on identified sets are derived for a general nonparametric model and sharp set identification is demonstrated in the binary outcome case. Point identification is typically not achieved by imposing parametric restrictions. The extent of an identified set varies with the strength and support of instruments, and typically shrinks as the support of a discrete outcome grows. The paper extends the analysis of structural quantile functions with endogenous arguments to cases in which there are discrete outcomes.     

Asymptotically Efficient Estimation of Models Defined by Convex Moment Inequalities

This paper examines the efficient estimation of partially identified models defined by moment inequalities that are convex in the parameter of interest. In such a setting, the identified set is itself convex and hence fully characterized by its support function. We provide conditions under which, despite being an infinite dimensional parameter, the support function admits √n‐consistent regular estimators. A semiparametric efficiency bound is then derived for its estimation, and it is shown that any regular estimator attaining it must also minimize a wide class of asymptotic loss functions. In addition, we show that the “plug‐in” estimator is efficient, and devise a consistent bootstrap procedure for estimating its limiting distribution. The setting we examine is related to an incomplete linear model studied in Beresteanu and Molinari (2008) and Bontemps, Magnac, and Maurin (2012), which further enables us to establish the semiparametric efficiency of their proposed estimators for that problem.     

Nonparametric Instrumental Variable Estimation Under Monotonicity

The ill‐posedness of the nonparametric instrumental variable (NPIV) model leads to estimators that may suffer from poor statistical performance. In this paper, we explore the possibility of imposing shape restrictions to improve the performance of the NPIV estimators. We assume that the function to be estimated is monotone and consider a sieve estimator that enforces this monotonicity constraint. We define a constrained measure of ill‐posedness that is relevant for the constrained estimator and show that, under a monotone IV assumption and certain other mild regularity conditions, this measure is bounded uniformly over the dimension of the sieve space. This finding is in stark contrast to the well‐known result that the unconstrained sieve measure of ill‐posedness that is relevant for the unconstrained estimator grows to infinity with the dimension of the sieve space. Based on this result, we derive a novel non‐asymptotic error bound for the constrained estimator. The bound gives a set of data‐generating processes for which the monotonicity constraint has a particularly strong regularization effect and considerably improves the performance of the estimator. The form of the bound implies that the regularization effect can be strong even in large samples and even if the function to be estimated is steep, particularly so if the NPIV model is severely ill‐posed. Our simulation study confirms these findings and reveals the potential for large performance gains from imposing the monotonicity constraint.     

Estimating Long Memory in Volatility

We consider semiparametric estimation of the memory parameter in a model that includes as special cases both long‐memory stochastic volatility and fractionally integrated exponential GARCH (FIEGARCH) models. Under our general model the logarithms of the squared returns can be decomposed into the sum of a long‐memory signal and a white noise. We consider periodogram‐based estimators using a local Whittle criterion function. We allow the optional inclusion of an additional term to account for possible correlation between the signal and noise processes, as would occur in the FIEGARCH model. We also allow for potential nonstationarity in volatility by allowing the signal process to have a memory parameter d^*1/2. We show that the local Whittle estimator is consistent for d^*∈(0,1). We also show that the local Whittle estimator is asymptotically normal for d^*∈(0,3/4) and essentially recovers the optimal semiparametric rate of convergence for this problem. In particular, if the spectral density of the short‐memory component of the signal is sufficiently smooth, a convergence rate of n^2/5−δ for d^*∈(0,3/4) can be attained, where n is the sample size and δ>0 is arbitrarily small. This represents a strong improvement over the performance of existing semiparametric estimators of persistence in volatility. We also prove that the standard Gaussian semiparametric estimator is asymptotically normal if d^*=0. This yields a test for long memory in volatility.     

Least Squares Model Averaging

This paper considers the problem of selection of weights for averaging across least squares estimates obtained from a set of models. Existing model average methods are based on exponential Akaike information criterion (AIC) and Bayesian information criterion (BIC) weights. In distinction, this paper proposes selecting the weights by minimizing a Mallows criterion, the latter an estimate of the average squared error from the model average fit. We show that our new Mallows model average (MMA) estimator is asymptotically optimal in the sense of achieving the lowest possible squared error in a class of discrete model average estimators. In a simulation experiment we show that the MMA estimator compares favorably with those based on AIC and BIC weights. The proof of the main result is an application of the work of Li (1987).     

Nonparametric Instrumental Variable Estimation of Structural Quantile Effects

We study the asymptotic distribution of Tikhonov regularized estimation of quantile structural effects implied by a nonseparable model. The nonparametric instrumental variable estimator is based on a minimum distance principle. We show that the minimum distance problem without regularization is locally ill‐posed, and we consider penalization by the norms of the parameter and its derivatives. We derive pointwise asymptotic normality and develop a consistent estimator of the asymptotic variance. We study the small sample properties via simulation results and provide an empirical illustration of estimation of nonlinear pricing curves for telecommunications services in the United States.     

Panel Binary Variables and Sufficiency: Generalizing Conditional Logit

This paper extends the conditional logit approach (Rasch, Andersen, Chamberlain) used in panel data models of binary variables with correlated fixed effects and strictly exogenous regressors. In a two‐period two‐state model, necessary and sufficient conditions on the joint distribution function of the individual‐and‐period specific shocks are given such that the sum of individual binary variables across time is a sufficient statistic for the individual effect. By extending a result of Chamberlain, it is shown that root‐n consistent regular estimators can be constructed in panel binary models if and only if the property of sufficiency holds. In applied work, the estimation method amounts to quasi‐differencing the binary variables as if they were continuous variables and transforming a panel data model into a cross‐section model. Semiparametric approaches can then be readily applied.