Nonparametric Identification of Finite Mixture Models of Dynamic Discrete Choices

In dynamic discrete choice analysis, controlling for unobserved heterogeneity is an important issue, and finite mixture models provide flexible ways to account for it. This paper studies nonparametric identifiability of type probabilities and type‐specific component distributions in finite mixture models of dynamic discrete choices. We derive sufficient conditions for nonparametric identification for various finite mixture models of dynamic discrete choices used in applied work under different assumptions on the Markov property, stationarity, and type‐invariance in the transition process. Three elements emerge as the important determinants of identification: the time‐dimension of panel data, the number of values the covariates can take, and the heterogeneity of the response of different types to changes in the covariates. For example, in a simple case where the transition function is type‐invariant, a time‐dimension of T = 3 is sufficient for identification, provided that the number of values the covariates can take is no smaller than the number of types and that the changes in the covariates induce sufficiently heterogeneous variations in the choice probabilities across types. Identification is achieved even when state dependence is present if a model is stationary first‐order Markovian and the panel has a moderate time‐dimension (T 6).     

Efficient Semiparametric Estimation of Censored and Truncated Regressions via a Smoothed Self‐Consistency Equation

An asymptotically efficient likelihood‐based semiparametric estimator is derived for the censored regression (tobit) model, based on a new approach for estimating the density function of the residuals in a partially observed regression. Smoothing the self‐consistency equation for the nonparametric maximum likelihood estimator of the distribution of the residuals yields an integral equation, which in some cases can be solved explicitly. The resulting estimated density is smooth enough to be used in a practical implementation of the profile likelihood estimator, but is sufficiently close to the nonparametric maximum likelihood estimator to allow estimation of the semiparametric efficient score. The parameter estimates obtained by solving the estimated score equations are then asymptotically efficient. A summary of analogous results for truncated regression is also given.     

Local Identification of Nonparametric and Semiparametric Models

In parametric, nonlinear structural models, a classical sufficient condition for local identification, like Fisher (1966) and Rothenberg (1971), is that the vector of moment conditions is differentiable at the true parameter with full rank derivative matrix. We derive an analogous result for the nonparametric, nonlinear structural models, establishing conditions under which an infinite dimensional analog of the full rank condition is sufficient for local identification. Importantly, we show that additional conditions are often needed in nonlinear, nonparametric models to avoid nonlinearities overwhelming linear effects. We give restrictions on a neighborhood of the true value that are sufficient for local identification. We apply these results to obtain new, primitive identification conditions in several important models, including nonseparable quantile instrumental variable (IV) models and semiparametric consumption‐based asset pricing models.     

Impossibility Results for Nondifferentiable Functionals

We examine challenges to estimation and inference when the objects of interest are nondifferentiable functionals of the underlying data distribution. This situation arises in a number of applications of bounds analysis and moment inequality models, and in recent work on estimating optimal dynamic treatment regimes. Drawing on earlier work relating differentiability to the existence of unbiased and regular estimators, we show that if the target object is not differentiable in the parameters of the data distribution, there exist no estimator sequences that are locally asymptotically unbiased or α‐quantile unbiased. This places strong limits on estimators, bias correction methods, and inference procedures, and provides motivation for considering other criteria for evaluating estimators and inference procedures, such as local asymptotic minimaxity and one‐sided quantile unbiasedness.     

Panel Data Discrete Choice Models with Lagged Dependent Variables

In this paper, we consider identification and estimation in panel data discrete choice models when the explanatory variable set includes strictly exogenous variables, lags of the endogenous dependent variable as well as unobservable individual‐specific effects. For the binary logit model with the dependent variable lagged only once, Chamberlain (1993) gave conditions under which the model is not identified. We present a stronger set of conditions under which the parameters of the model are identified. The identification result suggests estimators of the model, and we show that these are consistent and asymptotically normal, although their rate of convergence is slower than the inverse of the square root of the sample size. We also consider identification in the semiparametric case where the logit assumption is relaxed. We propose an estimator in the spirit of the conditional maximum score estimator (Manski (1987)) and we show that it is consistent. In addition, we discuss an extension of the identification result to multinomial discrete choice models, and to the case where the dependent variable is lagged twice. Finally, we present some Monte Carlo evidence on the small sample performance of the proposed estimators for the binary response model.     

Instrumental Variable Estimation of Nonparametric Models

In econometrics there are many occasions where knowledge of the structural relationship among dependent variables is required to answer questions of interest. This paper gives identification and estimation results for nonparametric conditional moment restrictions. We characterize identification of structural functions as completeness of certain conditional distributions, and give sufficient identification conditions for exponential families and discrete variables. We also give a consistent, nonparametric estimator of the structural function. The estimator is nonparametric two‐stage least squares based on series approximation, which overcomes an ill‐posed inverse problem by placing bounds on integrals of higher‐order derivatives.     

Efficient Semiparametric Estimation of Quantile Treatment Effects

This paper develops estimators for quantile treatment effects under the identifying restriction that selection to treatment is based on observable characteristics. Identification is achieved without requiring computation of the conditional quantiles of the potential outcomes. Instead, the identification results for the marginal quantiles lead to an estimation procedure for the quantile treatment effect parameters that has two steps: nonparametric estimation of the propensity score and computation of the difference between the solutions of two separate minimization problems. Root‐N consistency, asymptotic normality, and achievement of the semiparametric efficiency bound are shown for that estimator. A consistent estimation procedure for the variance is also presented. Finally, the method developed here is applied to evaluation of a job training program and to a Monte Carlo exercise. Results from the empirical application indicate that the method works relatively well even for a data set with limited overlap between treated and controls in the support of covariates. The Monte Carlo study shows that, for a relatively small sample size, the method produces estimates with good precision and low bias, especially for middle quantiles.     

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 Variables Estimation of a Quantile Regression Model

We consider nonparametric estimation of a regression function that is identified by requiring a specified quantile of the regression “error” conditional on an instrumental variable to be zero. The resulting estimating equation is a nonlinear integral equation of the first kind, which generates an ill‐posed inverse problem. The integral operator and distribution of the instrumental variable are unknown and must be estimated nonparametrically. We show that the estimator is mean‐square consistent, derive its rate of convergence in probability, and give conditions under which this rate is optimal in a minimax sense. The results of Monte Carlo experiments show that the estimator behaves well in finite samples.     

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.     

Instrumental Variable Estimation of Nonlinear Errors‐in‐Variables Models

This paper establishes that instruments enable the identification of nonparametric regression models in the presence of measurement error by providing a closed form solution for the regression function in terms of Fourier transforms of conditional expectations of observable variables. For parametrically specified regression functions, we propose a root n consistent and asymptotically normal estimator that takes the familiar form of a generalized method of moments estimator with a plugged‐in nonparametric kernel density estimate. Both the identification and the estimation methodologies rely on Fourier analysis and on the theory of generalized functions. The finite‐sample properties of the estimator are investigated through Monte Carlo simulations.     

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.     

Intersection Bounds: Estimation and Inference

We develop a practical and novel method for inference on intersection bounds, namely bounds defined by either the infimum or supremum of a parametric or nonparametric function, or, equivalently, the value of a linear programming problem with a potentially infinite constraint set. We show that many bounds characterizations in econometrics, for instance bounds on parameters under conditional moment inequalities, can be formulated as intersection bounds. Our approach is especially convenient for models comprised of a continuum of inequalities that are separable in parameters, and also applies to models with inequalities that are nonseparable in parameters. Since analog estimators for intersection bounds can be severely biased in finite samples, routinely underestimating the size of the identified set, we also offer a median‐bias‐corrected estimator of such bounds as a by‐product of our inferential procedures. We develop theory for large sample inference based on the strong approximation of a sequence of series or kernel‐based empirical processes by a sequence of “penultimate” Gaussian processes. These penultimate processes are generally not weakly convergent, and thus are non‐Donsker. Our theoretical results establish that we can nonetheless perform asymptotically valid inference based on these processes. Our construction also provides new adaptive inequality/moment selection methods. We provide conditions for the use of nonparametric kernel and series estimators, including a novel result that establishes strong approximation for any general series estimator admitting linearization, which may be of independent interest.     

Panel Data Models With Interactive Fixed Effects

This paper considers large N and large T panel data models with unobservable multiple interactive effects, which are correlated with the regressors. In earnings studies, for example, workers' motivation, persistence, and diligence combined to influence the earnings in addition to the usual argument of innate ability. In macroeconomics, interactive effects represent unobservable common shocks and their heterogeneous impacts on cross sections. We consider identification, consistency, and the limiting distribution of the interactive‐effects estimator. Under both large N and large T, the estimator is shown to be consistent, which is valid in the presence of correlations and heteroskedasticities of unknown form in both dimensions. We also derive the constrained estimator and its limiting distribution, imposing additivity coupled with interactive effects. The problem of testing additive versus interactive effects is also studied. In addition, we consider identification and estimation of models in the presence of a grand mean, time‐invariant regressors, and common regressors. Given identification, the rate of convergence and limiting results continue to hold.     

Estimating Derivatives in Nonseparable Models With Limited Dependent Variables

We present a simple way to estimate the effects of changes in a vector of observable variables X on a limited dependent variable Y when Y is a general nonseparable function of X and unobservables, and X is independent of the unobservables. We treat models in which Y is censored from above, below, or both. The basic idea is to first estimate the derivative of the conditional mean of Y given X at x with respect to x on the uncensored sample without correcting for the effect of x on the censored population. We then correct the derivative for the effects of the selection bias. We discuss nonparametric and semiparametric estimators for the derivative. We also discuss the cases of discrete regressors and of endogenous regressors in both cross section and panel data contexts.     

Fixed‐Effects Dynamic Panel Models,a Factor Analytical Method

We consider the estimation of dynamic panel data models in the presence of incidental parameters in both dimensions: individual fixed‐effects and time fixed‐effects, as well as incidental parameters in the variances. We adopt the factor analytical approach by estimating the sample variance of individual effects rather than the effects themselves. In the presence of cross‐sectional heteroskedasticity, the factor method estimates the average of the cross‐sectional variances instead of the individual variances. The method thereby eliminates the incidental‐parameter problem in the means and in the variances over the cross‐sectional dimension. We further show that estimating the time effects and heteroskedasticities in the time dimension does not lead to the incidental‐parameter bias even when T and N are comparable. Moreover, efficient and robust estimation is obtained by jointly estimating heteroskedasticities.     

Nonparametric Identification under Discrete Variation

This paper provides weak conditions under which there is nonparametric interval identification of local features of a structural function that depends on a discrete endogenous variable and is nonseparable in latent variates. The function delivers values of a discrete or continuous outcome and instruments may be discrete valued. Application of the analog principle leads to quantile regression based interval estimators of values and partial differences of structural functions. The results are used to investigate the nonparametric identifying power of the quarter‐of‐birth instruments used in Angrist and Krueger's 1991 study of the returns to schooling.     

Generalized Instrumental Variable Models

This paper develops characterizations of identified sets of structures and structural features for complete and incomplete models involving continuous or discrete variables. Multiple values of unobserved variables can be associated with particular combinations of observed variables. This can arise when there are multiple sources of heterogeneity, censored or discrete endogenous variables, or inequality restrictions on functions of observed and unobserved variables. The models generalize the class of incomplete instrumental variable (IV) models in which unobserved variables are single‐valued functions of observed variables. Thus the models are referred to as generalized IV (GIV) models, but there are important cases in which instrumental variable restrictions play no significant role. Building on a definition of observational equivalence for incomplete models the development uses results from random set theory that guarantee that the characterizations deliver sharp bounds, thereby dispensing with the need for case‐by‐case proofs of sharpness. The use of random sets defined on the space of unobserved variables allows identification analysis under mean and quantile independence restrictions on the distributions of unobserved variables conditional on exogenous variables as well as under a full independence restriction. The results are used to develop sharp bounds on the distribution of valuations in an incomplete model of English auctions, improving on the pointwise bounds available until now. Application of many of the results of the paper requires no familiarity with random set theory.     

Estimating Dynamic Models of Imperfect Competition

We describe a two‐step algorithm for estimating dynamic games under the assumption that behavior is consistent with Markov perfect equilibrium. In the first step, the policy functions and the law of motion for the state variables are estimated. In the second step, the remaining structural parameters are estimated using the optimality conditions for equilibrium. The second step estimator is a simple simulated minimum distance estimator. The algorithm applies to a broad class of models, including industry competition models with both discrete and continuous controls such as the Ericson and Pakes (1995) model. We test the algorithm on a class of dynamic discrete choice models with normally distributed errors and a class of dynamic oligopoly models similar to that of Pakes and McGuire (1994).     

Semi‐Nonparametric IV Estimation of Shape‐Invariant Engel Curves

This paper studies a shape‐invariant Engel curve system with endogenous total expenditure, in which the shape‐invariant specification involves a common shift parameter for each demographic group in a pooled system of nonparametric Engel curves. We focus on the identification and estimation of both the nonparametric shapes of the Engel curves and the parametric specification of the demographic scaling parameters. The identification condition relates to the bounded completeness and the estimation procedure applies the sieve minimum distance estimation of conditional moment restrictions, allowing for endogeneity. We establish a new root mean squared convergence rate for the nonparametric instrumental variable regression when the endogenous regressor could have unbounded support. Root‐n asymptotic normality and semiparametric efficiency of the parametric components are also given under a set of “low‐level” sufficient conditions. Our empirical application using the U.K. Family Expenditure Survey shows the importance of adjusting for endogeneity in terms of both the nonparametric curvatures and the demographic parameters of systems of Engel curves.