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Date: Oct 2, 2026

An inspector draws 20 items from a production line and finds 3 defective. Two questions can be asked about this event, and they are not the same question.

The first is a probability question. If each item is independently defective with probability \(0.1\) , how likely is it that exactly 3 of 20 are defective? The answer is a single number, \(\binom{20}{3}(0.1)^3(0.9)^{17}\approx 0.190\) , and nothing about it is uncertain once the rate \(0.1\) is given.

The second is a statistical question. Having seen 3 defectives in 20, what can be said about the defect rate of the line? Here the rate is not given. It could be \(0.1\) ; it could be \(0.15\) or \(0.3\) . Each candidate rate makes the observed count possible, and some make it more probable than others. The answer cannot be a single number delivered with certainty. It will be an estimate, a range, or a decision, together with a statement of how often the method that produced it goes wrong.

This chapter builds the vocabulary for the second kind of question. Its central object is the statistical model: a family of probability laws, one of which is supposed to have generated the data. Its central warning is that some features of a model cannot be learned from data however much data there is, and that this has to be settled before any estimation begins.

1.1 A model is a family of laws

In Probability Theory a random experiment is described by one probability law. In statistics the law is unknown, and the description is a set of laws considered possible.

Definition 1.1 (statistical model). Let \(X\) denote the data, a random element taking values in a sample space \(\mathcal X\) . A statistical model for \(X\) is a family \(\mathcal P=\{P_\theta:\theta\in\Theta\}\) of probability distributions on \(\mathcal X\) . The index \(\theta\) is the parameter, the index set \(\Theta\) is the parameter space, and the map \(\theta\mapsto P_\theta\) is the parametrization. The model is parametric when \(\Theta\subseteq\mathbb R^k\) for some finite \(k\) , and nonparametric otherwise.

A model is an assumption, and it has two parts that are easy to run together. One part says what form the law takes: binomial, normal, and so on. The other says which values of the index are allowed. The statement “the count is binomial with 20 trials and success probability \(p\) ” is incomplete as a model until \(\Theta\) is named: \(p\in(0,1)\) , or \(p\in[0,1]\) , or \(p\in[0,0.5]\) are three different models, and they can lead to different estimates from the same data.

The word data refers to everything observed, taken together. Most often the data are a list \(X=(X_1,\dots,X_n)\) .

Definition 1.2 (random sample). The variables \(X_1,\dots,X_n\) form a random sample of size \(n\) from a distribution \(F\) if they are independent and each has distribution \(F\) . If \(F\) has density or mass function \(f(\cdot\,;\theta)\) , the joint density or mass function of the sample is

\[ f(x_1,\dots,x_n;\theta)=\prod_{i=1}^n f(x_i;\theta). \]

Independence and identical distribution are modelling assumptions about how the data were collected, not facts about numbers in a table. Twenty items taken from one hour of production by one machine may be close to a random sample; twenty items of which ten come from each of two machines are not identically distributed, and twenty consecutive items from a machine whose tool is wearing are not independent of their position in time.

Definition 1.3 (statistic, estimand, estimator). A statistic is a function \(T=T(X)\) of the data whose computation does not require knowing \(\theta\) . An estimand is a quantity \(g(\theta)\) determined by the parameter. An estimator of \(g(\theta)\) is a statistic used to guess its value; the number \(T(x)\) obtained from observed data \(x\) is an estimate.

Three objects must be kept apart, and a good habit is to write them on three separate lines when starting a problem. The parameter \(\theta\) is fixed and unknown. The statistic \(T(X)\) is random and has a distribution, which depends on \(\theta\) . The estimate \(T(x)\) is a known number. The sample mean \(\bar X\) is a statistic; the population mean \(\mu\) is a parameter; \(\bar X-\mu\) is neither, since it cannot be computed without knowing \(\mu\) , although it will be very useful in Chapter 2 exactly because its distribution can be simple.

Common mistake. Writing “\(\mu=4.2\) ” after computing a sample mean of \(4.2\) . The data give \(\bar x=4.2\) . The parameter \(\mu\) is still unknown, and every method in this book exists to describe the gap between the two.

Example 1.1: The inspector’s model

The inspector records \(X\) , the number of defective items among 20. Assume the items are independent and each is defective with the same unknown probability \(p\) . The sample space is \(\mathcal X=\{0,1,\dots,20\}\) , the parameter space is \(\Theta=(0,1)\) , and \(P_p\) is the binomial distribution with

\[ P_p(X=x)=\binom{20}{x}p^x(1-p)^{20-x}. \]

The observed value is \(x=3\) . Under three candidate rates the probability of what was seen is

\[ P_{0.1}(X=3)\approx 0.1901,\qquad P_{0.15}(X=3)\approx 0.2428,\qquad P_{0.3}(X=3)\approx 0.0716 . \]

None of these numbers is the probability that the rate is \(0.1\) , \(0.15\) , or \(0.3\) . Each is the probability of the data computed under a hypothesis about the rate. Read as a function of \(p\) with the data held fixed, the expression \(\binom{20}{3}p^3(1-p)^{17}\) ranks the candidate rates by how well they account for the observation, and \(p=0.15=3/20\) comes out on top among the three. Chapter 5 turns that reading into a method.

Now change how the data were collected. Suppose the inspector had instead decided to keep drawing until the third defective appeared, and it appeared at the 20th item. The observed record is the same, 3 defectives in 20 items, but the random quantity is now \(N\) , the number of items drawn, with sample space \(\{3,4,5,\dots\}\) and

\[ P_p(N=20)=\binom{19}{2}p^3(1-p)^{17}. \]

At \(p=0.1\) this is about \(0.0285\) , not \(0.1901\) . The two probabilities differ by the constant factor \(\binom{20}{3}/\binom{19}{2}=20/3\) for every \(p\) , so both designs rank the candidate rates in the same order. They do not, however, give the statistic “defectives divided by items” the same distribution, and Exercise 11 shows that a rule which is right on average under one design is wrong on average under the other. The model is part of the data.

1.2 Which model, and how large

Models differ in how much they assume. For measurements \(X_1,\dots,X_n\) of a physical constant, here are three models in decreasing order of strength.

The first says the \(X_i\) are a random sample from \(N(\mu,\sigma^2)\) with \(\theta=(\mu,\sigma^2)\in\mathbb R\times(0,\infty)\) . Two numbers describe the whole law.

The second says the \(X_i\) are a random sample from a distribution with density \(f_0(x-\mu)\) , where \(f_0\) is some unknown density symmetric about zero. The parameter is the pair \((\mu,f_0)\) , and \(f_0\) ranges over an infinite-dimensional set. The estimand of interest is still the single number \(\mu\) .

The third says only that the \(X_i\) are a random sample from some distribution \(F\) with finite variance. The parameter is \(F\) itself, and typical estimands are functionals of it: the mean \(\int x\,dF(x)\) , the median, the value \(F(c)\) at a fixed point.

A stronger model buys sharper conclusions, and the price is that the conclusions are wrong if the assumption is. Two families of parametric models occur so often that they have names.

Definition 1.4 (location and scale families). Let \(f_0\) be a fixed density on \(\mathbb R\) . The location family generated by \(f_0\) is \(\{f_0(x-\mu):\mu\in\mathbb R\}\) . The scale family is \(\{\sigma^{-1}f_0(x/\sigma):\sigma>0\}\) . The location-scale family is \(\{\sigma^{-1}f_0((x-\mu)/\sigma):\mu\in\mathbb R,\ \sigma>0\}\) . Equivalently, \(X\) belongs to the location-scale family when \(X=\mu+\sigma Z\) with \(Z\) having density \(f_0\) .

The normal distributions form the location-scale family generated by the standard normal density. The exponential distributions form a scale family with \(\sigma=1/\lambda\) . The uniform distributions on \((0,\theta)\) form a scale family generated by the uniform density on \((0,1)\) . The representation \(X=\mu+\sigma Z\) is the reason these families are tractable: questions about \(X\) become questions about a variable \(Z\) whose law contains no unknowns.

At the far end from parametric models, a random sample from a completely unknown \(F\) can still be analysed, because \(F\) can be estimated directly.

Proposition 1.5 (empirical distribution function). Let \(X_1,\dots,X_n\) be a random sample from a distribution with cumulative distribution function \(F\) , and define

\[ \widehat F_n(x)=\frac1n\sum_{i=1}^n \mathbf 1\{X_i\le x\}. \]

For each fixed \(x\) , the count \(n\widehat F_n(x)\) has the binomial distribution with \(n\) trials and success probability \(F(x)\) . Consequently \(E\,\widehat F_n(x)=F(x)\) and \(\operatorname{Var}\widehat F_n(x)=F(x)(1-F(x))/n\le 1/(4n)\) .

Proof. The indicators \(\mathbf 1\{X_i\le x\}\) are independent because the \(X_i\) are, and each equals \(1\) with probability \(P(X_i\le x)=F(x)\) . Their sum is therefore binomial with parameters \(n\) and \(F(x)\) , with mean \(nF(x)\) and variance \(nF(x)(1-F(x))\) . Dividing by \(n\) gives the mean and variance of \(\widehat F_n(x)\) . The bound holds because \(u(1-u)\le 1/4\) for every \(u\in[0,1]\) .

The proposition is the first instance of a pattern that organises the next eight chapters: a statistic is proposed, its distribution under the model is derived, and that distribution tells how far the statistic can be from its target.

Example 1.2: How well five observations pin down one value of a distribution function

Five measured lifetimes, in hundreds of hours, are \(2.1\) , \(3.4\) , \(1.7\) , \(5.0\) , and \(2.8\) . No parametric form is assumed. Three of the five are at most \(3\) , so \(\widehat F_5(3)=3/5=0.6\) .

By Proposition 1.5 the standard deviation of \(\widehat F_5(3)\) is \(\sqrt{F(3)(1-F(3))/5}\) , which is at most \(\sqrt{1/20}\approx 0.2236\) whatever \(F\) is. That is a large number compared with the estimate \(0.6\) : five observations locate \(F(3)\) only roughly. To bring the bound on the standard deviation down to \(0.05\) requires \(1/(4n)\le 0.05^2\) , that is, \(n\ge 100\) . The calculation used nothing about \(F\) beyond its existence, which is the strength of the nonparametric model, and it delivered only one value of \(F\) at a time, which is its cost.

1.3 Identifiability

A model can be written with more parameters than the data can distinguish. When that happens no amount of data repairs it, and the defect has to be found by examining the parametrization, not the data.

Definition 1.6 (identifiability). A parametrization \(\theta\mapsto P_\theta\) is identifiable if it is one-to-one: \(P_{\theta_1}=P_{\theta_2}\) implies \(\theta_1=\theta_2\) . A function \(g\) on \(\Theta\) is identifiable if \(P_{\theta_1}=P_{\theta_2}\) implies \(g(\theta_1)=g(\theta_2)\) ; that is, if \(g(\theta)\) is determined by the distribution of the data.

Equality of distributions means equality of the probabilities assigned to every event, or equivalently of the distribution functions. To prove identifiability one usually exhibits a recipe that recovers \(\theta\) from \(P_\theta\) .

Proposition 1.7 (identification by a functional). A function \(g\) on \(\Theta\) is identifiable if and only if there is a map \(\varphi\) from distributions to values with \(\varphi(P_\theta)=g(\theta)\) for every \(\theta\in\Theta\) .

Proof. If such a \(\varphi\) exists and \(P_{\theta_1}=P_{\theta_2}\) , then \(g(\theta_1)=\varphi(P_{\theta_1})=\varphi(P_{\theta_2})=g(\theta_2)\) . Conversely, if \(g\) is identifiable, define \(\varphi(P)\) for \(P\) in the model to be the common value of \(g(\theta)\) over all \(\theta\) with \(P_\theta=P\) ; identifiability is exactly the statement that this value does not depend on which such \(\theta\) is chosen.

In the model \(N(\mu,\sigma^2)\) with \(\sigma^2>0\) , the mean of the distribution is \(\mu\) and its variance is \(\sigma^2\) , so the functional “mean and variance” recovers the parameter and the model is identifiable. In the binomial model, \(P_p(X=20)=p^{20}\) recovers \(p\) . The useful direction of Proposition 1.7 is this one: find any feature of the distribution, a moment, a probability, a quantile, from which the parameter can be solved.

To prove that a parametrization is not identifiable, exhibit two different parameter values with the same distribution. One pair is enough.

Example 1.3: A sign the data cannot see

A sensor measures a signed quantity \(Y\sim N(\mu,1)\) but reports only its magnitude \(X=\lvert Y\rvert\) . The model for the observed \(X\) is indexed by \(\mu\in\mathbb R\) . For \(x\ge 0\) ,

\[ P_\mu(X\le x)=P_\mu(-x\le Y\le x)=\Phi(x-\mu)-\Phi(-x-\mu), \]

where \(\Phi\) is the standard normal distribution function. Replacing \(\mu\) by \(-\mu\) gives \(\Phi(x+\mu)-\Phi(-x+\mu)\) , and since \(\Phi(a)=1-\Phi(-a)\) this equals \(\Phi(x-\mu)-\Phi(-x-\mu)\) again. So \(P_\mu=P_{-\mu}\) for every \(\mu\) : the parameter is not identifiable. As a numerical check, at \(\mu=0.5\) and at \(\mu=-0.5\) the probability \(P_\mu(X\le 1)\) is

\[ \Phi(0.5)-\Phi(-1.5)=\Phi(1.5)-\Phi(-0.5)\approx 0.6247 . \]

What can be learned is \(\lvert\mu\rvert\) . To see that it is identifiable, compute \(E_\mu X^2=E_\mu Y^2=1+\mu^2\) ; the second moment of the observable determines \(\mu^2\) and hence \(\lvert\mu\rvert\) . The repair is to change the estimand from \(\mu\) to \(\lvert\mu\rvert\) , or to restrict the parameter space to \(\mu\ge 0\) if the physics justifies it. A larger sample is not a repair.

Example 1.4: A rate and a detection probability

Particles arrive at a detector, \(N\sim\operatorname{Poisson}(\lambda)\) in a fixed time window, and each is registered independently with probability \(\pi\) . Only the registered count \(Y\) is observed. A standard calculation in Probability Theory (thinning of a Poisson count) shows that \(Y\sim\operatorname{Poisson}(\lambda\pi)\) . The parameter is \(\theta=(\lambda,\pi)\in(0,\infty)\times(0,1]\) .

The distribution of \(Y\) depends on \(\theta\) only through the product \(\lambda\pi\) . The parameter values \((10,0.6)\) and \((12,0.5)\) both give \(Y\sim\operatorname{Poisson}(6)\) , and for instance both give \(P(Y=4)=e^{-6}6^4/4!\approx 0.1339\) . The pair \((\lambda,\pi)\) is not identifiable; the product \(\lambda\pi\) is, since it is the mean of \(Y\) .

Identifiability can be restored by collecting a different kind of data. Suppose a calibration run sends \(m=50\) known particles through the detector and \(Z\) of them are registered, so \(Z\sim\operatorname{Binomial}(50,\pi)\) independently of \(Y\) . From the joint distribution of \((Y,Z)\) one recovers \(\pi=E(Z)/50\) and then \(\lambda=E(Y)/\pi\) . With the enlarged data the full parameter is identifiable. The lesson generalises: non-identifiability is cured by design, by a restriction that is scientifically justified, or by changing the estimand, and never by sample size.

1.4 Why non-identifiability cannot be outrun

The claim that more data do not help deserves a proof, because it is the reason identifiability is checked first. It needs the notion of an estimator that eventually gets the right answer.

Definition 1.8 (consistency). For each \(n\) let \(T_n=T_n(X_1,\dots,X_n)\) be an estimator of \(g(\theta)\) . The sequence \((T_n)\) is consistent for \(g(\theta)\) if, for every \(\theta\in\Theta\) and every \(\varepsilon>0\) ,

\[ P_\theta\bigl(\lvert T_n-g(\theta)\rvert>\varepsilon\bigr)\longrightarrow 0\qquad\text{as } n\to\infty . \]

Consistency is a minimal requirement: with unlimited data, the estimator should be close to the truth with probability approaching one, and this should hold whichever member of the model is the true one. Chapter 9 studies when it holds. Here is when it cannot.

Theorem 1.9 (no consistent estimator without identifiability). Suppose there are \(\theta_1,\theta_2\in\Theta\) such that, for every \(n\) , the sample \((X_1,\dots,X_n)\) has the same distribution under \(\theta_1\) as under \(\theta_2\) , while \(g(\theta_1)\ne g(\theta_2)\) . Then no sequence of estimators is consistent for \(g(\theta)\) .

Proof. Suppose \((T_n)\) were consistent. Put \(\varepsilon=\lvert g(\theta_1)-g(\theta_2)\rvert/2>0\) and consider the events

\[ A_n=\{\lvert T_n-g(\theta_1)\rvert<\varepsilon\},\qquad B_n=\{\lvert T_n-g(\theta_2)\rvert<\varepsilon\}. \]

They are disjoint: a number within \(\varepsilon\) of both \(g(\theta_1)\) and \(g(\theta_2)\) would force \(\lvert g(\theta_1)-g(\theta_2)\rvert<2\varepsilon\) , which is false. Consistency at \(\theta_1\) gives \(P_{\theta_1}(A_n)\to 1\) , and consistency at \(\theta_2\) gives \(P_{\theta_2}(B_n)\to 1\) . Because \(T_n\) is a function of the sample and the sample has the same distribution under both parameter values, \(P_{\theta_1}(B_n)=P_{\theta_2}(B_n)\to 1\) . Then \(P_{\theta_1}(A_n)+P_{\theta_1}(B_n)\to 2\) , which is impossible for disjoint events, whose probabilities sum to at most \(1\) .

The proof uses the two hypotheses in different places. Equality of the sampling distributions transfers a probability statement from \(\theta_2\) to \(\theta_1\) . The gap between \(g(\theta_1)\) and \(g(\theta_2)\) makes the two target neighbourhoods disjoint. Remove either and the argument stops, as it should: if \(g(\theta_1)=g(\theta_2)\) the estimand does not care which of the two parameters is true, and the theorem places no obstacle in the way of estimating it. In Example 1.3 the theorem applies to \(g(\mu)=\mu\) with \(\theta_1=0.5\) and \(\theta_2=-0.5\) , and does not apply to \(g(\mu)=\lvert\mu\rvert\) .

The converse is false. Identifiability is necessary for consistent estimation and far from sufficient; an identifiable parameter can still be very hard to estimate, and a finite sample never reveals it exactly.

Common mistake. Checking identifiability by counting: “two parameters, two observations, so it is fine.” Identifiability is a property of the map \(\theta\mapsto P_\theta\) , not of a count. In Example 1.4 there are two parameters and any number of observations of \(Y\) , and the map is still many-to-one.

Non-identifiability often enters through redundant parametrization of a mean. Suppose two groups are measured, \(Y_{1j}\sim N(\mu+\alpha_1,1)\) and \(Y_{2j}\sim N(\mu+\alpha_2,1)\) , with parameter \((\mu,\alpha_1,\alpha_2)\in\mathbb R^3\) . Adding a constant \(c\) to \(\mu\) and subtracting it from both \(\alpha_1\) and \(\alpha_2\) leaves both group means unchanged, so the three-dimensional parameter is not identifiable. The group means \(\mu+\alpha_1\) and \(\mu+\alpha_2\) are identifiable, and so is the difference \(\alpha_1-\alpha_2\) . Linear models handle this either by imposing a constraint such as \(\alpha_1=0\) or by speaking only of identifiable functions, and Chapter 10 will require a design matrix of full column rank for exactly this reason.

1.5 The sampling scheme belongs to the model

Example 1.1 showed that the same record can arise from two designs. A third common design removes independence altogether.

Example 1.5: Sampling from a finite lot without replacement

A lot contains \(50\) items, of which an unknown number \(D\) are defective. Ten items are drawn at random without replacement and \(X\) , the number of defectives among them, is recorded. The parameter is \(D\) , with parameter space \(\{0,1,\dots,50\}\) , a finite set. The draws are not independent, since removing a defective item lowers the chance that the next one is defective. The distribution of \(X\) is hypergeometric:

\[ P_D(X=x)=\frac{\binom{D}{x}\binom{50-D}{10-x}}{\binom{50}{10}} . \]

For \(D=10\) and \(x=2\) this is \(\binom{10}{2}\binom{40}{8}/\binom{50}{10}\approx 0.3369\) . A binomial model with 10 independent trials and success probability \(10/50=0.2\) would give \(\binom{10}{2}(0.2)^2(0.8)^8\approx 0.3020\) .

The two models agree on the mean of \(X\) , which is \(10\times 0.2=2\) in both. They disagree on its variance: the binomial variance is \(10(0.2)(0.8)=1.6\) , and the hypergeometric variance is smaller by the finite-population factor \((50-10)/(50-1)=40/49\) , giving about \(1.306\) . Sampling without replacement is more informative than sampling with replacement, and the difference matters when the sample is a fifth of the lot. If the lot had \(5000\) items the factor would be \(4990/4999\) and the binomial model would be an excellent approximation.

The model is identifiable: \(E_D X=10D/50=D/5\) determines \(D\) . The same design reappears in Chapter 12, where the “lot” is a set of experimental units and the “draw” is the random choice of which units receive a treatment.

The examples of this chapter suggest a routine for the start of any analysis. Say what was observed and how the observation was produced. Write the family of laws and its parameter space. Name the estimand, which may be the parameter, a function of it, or a decision that depends on it. Then check that the estimand is identifiable, by solving for it from some feature of the distribution or by finding two parameter values the data cannot tell apart. Only after that does the question of how to estimate arise.

Four kinds of answer will be developed. A point estimate gives a single best guess (Chapters 4 to 6). A confidence set gives a range with a guaranteed long-run success rate (Chapter 7). A test decides between two statements about the parameter with controlled error rates (Chapter 8). A forecast states what a future observation will be, with its uncertainty (Chapters 7, 11, and 13). All four rest on the same foundation, the distribution of a statistic under each law in the model, and that is the subject of the next chapter.

Exercises

  1. A survey records, for each of \(n\) randomly chosen households in a city, the number of cars the household owns. Propose a statistical model: give the sample space, a family of distributions with its parameter space, one statistic, and one estimand that is a function of the parameter and not the parameter itself.

  2. In the model of Example 1.1, compute \(P_p(X=3)\) for \(p=0.05\) and \(p=0.2\) , and place the five rates \(0.05\) , \(0.1\) , \(0.15\) , \(0.2\) , \(0.3\) in order of how probable they make the observation.

    Answer

    \(P_{0.05}(X=3)\approx 0.0596\) and \(P_{0.2}(X=3)\approx 0.2054\) . From most to least probable observation: \(p=0.15\) (\(0.2428\) ), \(p=0.2\) (\(0.2054\) ), \(p=0.1\) (\(0.1901\) ), \(p=0.3\) (\(0.0716\) ), \(p=0.05\) (\(0.0596\) ).

  3. Let \(X_1,\dots,X_n\) be a random sample from \(N(\mu,\sigma^2)\) with both parameters unknown, and let \(\mu_0\) be a known number. Decide which of the following are statistics and explain each answer: (a) \(\bar X-\mu\) ; (b) \(\max_i X_i\) ; (c) \(\sqrt n(\bar X-\mu_0)/\sigma\) ; (d) \(\sqrt n(\bar X-\mu_0)/S\) .

    Answer

    (a) Not a statistic: it requires \(\mu\) . (b) A statistic. (c) Not a statistic: \(\mu_0\) is known but \(\sigma\) is not. (d) A statistic: \(\mu_0\) is known and \(S\) is computed from the data.

  4. Show that the model \(N(\mu,\sigma^2)\) with parameter \((\mu,\sigma^2)\in\mathbb R\times(0,\infty)\) is identifiable, and that the same family of laws parametrized by \((\mu,\sigma)\in\mathbb R\times(\mathbb R\setminus\{0\})\) is not.

    Solution

    Let \(P_{\mu,\sigma^2}\) denote the \(N(\mu,\sigma^2)\) distribution. Its mean is \(\mu\) and its variance is \(\sigma^2\) . If \(P_{\mu_1,\sigma_1^2}=P_{\mu_2,\sigma_2^2}\) , the two distributions have the same mean and the same variance, so \(\mu_1=\mu_2\) and \(\sigma_1^2=\sigma_2^2\) . The parametrization by \((\mu,\sigma^2)\) is therefore one-to-one, which is identifiability; in the language of Proposition 1.7 the functional is “mean and variance”.

    For the second parametrization the density is

    \[ \frac{1}{\lvert\sigma\rvert\sqrt{2\pi}}\exp\Bigl(-\frac{(x-\mu)^2}{2\sigma^2}\Bigr), \]

    which depends on \(\sigma\) only through \(\sigma^2\) . The parameter values \((0,1)\) and \((0,-1)\) are different points of \(\mathbb R\times(\mathbb R\setminus\{0\})\) and both give the standard normal distribution. One pair of distinct parameters with the same law is enough to show that the parametrization is not one-to-one. The family of laws is unchanged; what changed is the labelling, and identifiability is a property of the labelling.

  5. A two-component mixture has density \(\pi\,\phi(x-\mu_1)+(1-\pi)\,\phi(x-\mu_2)\) , where \(\phi\) is the standard normal density and \((\pi,\mu_1,\mu_2)\in(0,1)\times\mathbb R^2\) . Exhibit two different parameter values with the same density, and state a restriction on the parameter space that removes this particular ambiguity.

    Hint

    Swap the labels of the two components: compare \((\pi,\mu_1,\mu_2)\) with \((1-\pi,\mu_2,\mu_1)\) . A restriction such as \(\mu_1<\mu_2\) forbids the swap. Notice that it also excludes \(\mu_1=\mu_2\) , where a second ambiguity appears: the density is then \(\phi(x-\mu_1)\) for every \(\pi\) .

  6. In the two-group model \(Y_{1j}\sim N(\mu+\alpha_1,1)\) , \(Y_{2j}\sim N(\mu+\alpha_2,1)\) of Section 1.4, prove that \(\alpha_1-\alpha_2\) is identifiable and that \(\alpha_1\) is not, and show that the constraint \(\alpha_1+\alpha_2=0\) makes the whole parameter identifiable.

    Solution

    The data consist of the two groups, and their distribution is determined by the two group means \(m_1=\mu+\alpha_1\) and \(m_2=\mu+\alpha_2\) , since the variances are known. Each \(m_k\) is the expectation of an observation in group \(k\) , so by Proposition 1.7 both \(m_1\) and \(m_2\) are identifiable. Then \(\alpha_1-\alpha_2=m_1-m_2\) is a function of identifiable quantities and is identifiable.

    For \(\alpha_1\) , take \(\theta=(0,1,0)\) and \(\theta'=(1,0,-1)\) . Both give \(m_1=1\) and \(m_2=0\) , hence the same distribution of the data, while \(\alpha_1\) equals \(1\) in the first and \(0\) in the second. So \(\alpha_1\) is not identifiable.

    Under the constraint \(\alpha_1+\alpha_2=0\) the map from \((\mu,\alpha_1)\) to \((m_1,m_2)\) is \(m_1=\mu+\alpha_1\) , \(m_2=\mu-\alpha_1\) , which is inverted by \(\mu=(m_1+m_2)/2\) and \(\alpha_1=(m_1-m_2)/2\) , with \(\alpha_2=-\alpha_1\) . The parameter is recovered from identifiable quantities, so the constrained parametrization is one-to-one.

  7. Let \(\theta\mapsto P_\theta\) be identifiable and let \(h:\Theta\to H\) be a bijection. Prove that the reparametrized model \(\eta\mapsto P_{h^{-1}(\eta)}\) is identifiable, and give an example showing that if \(h\) is not one-to-one the conclusion “the parameter can be recovered from \(h(\theta)\) ” fails even though \(h(\theta)\) itself remains identifiable.

    Hint

    For the first part, if \(P_{h^{-1}(\eta_1)}=P_{h^{-1}(\eta_2)}\) then identifiability of the original parametrization gives \(h^{-1}(\eta_1)=h^{-1}(\eta_2)\) ; apply \(h\) . For the second part, take \(N(\mu,1)\) and \(h(\mu)=\mu^2\) : the function \(\mu^2\) is identifiable, being a function of the mean, but knowing \(\mu^2\) does not return \(\mu\) .

  8. In Example 1.4 suppose the full data are \((Y,Z)\) with \(Y\sim\operatorname{Poisson}(\lambda\pi)\) and, independently, \(Z\sim\operatorname{Binomial}(m,\pi)\) for a known \(m\ge 1\) . Prove that \((\lambda,\pi)\) is identifiable on \((0,\infty)\times(0,1]\) , and explain why the proof breaks down if \(\pi=0\) were allowed.

    Solution

    Suppose \((\lambda_1,\pi_1)\) and \((\lambda_2,\pi_2)\) give the same joint distribution of \((Y,Z)\) . Then they give the same marginal distribution of \(Z\) , hence the same mean \(E(Z)=m\pi\) ; since \(m\ge 1\) is known, \(\pi_1=\pi_2\) . They also give the same marginal distribution of \(Y\) , hence the same mean \(E(Y)=\lambda\pi\) , so \(\lambda_1\pi_1=\lambda_2\pi_2\) . Because the common value \(\pi_1=\pi_2\) is strictly positive on the parameter space \((0,\infty)\times(0,1]\) , it can be divided out, giving \(\lambda_1=\lambda_2\) . The parametrization is one-to-one.

    The division is the step that fails if \(\pi=0\) is allowed. When \(\pi=0\) , both \(Y\) and \(Z\) are zero with probability one whatever \(\lambda\) is, so \((\lambda,0)\) and \((\lambda',0)\) have the same law for every pair \(\lambda\ne\lambda'\) . A detector that registers nothing carries no information about the arrival rate, and no calibration run changes that.

  9. A student argues about Example 1.3: “With a million observations of \(\lvert Y\rvert\) the histogram is essentially exact, so \(\mu\) is known to many decimal places, including its sign.” Identify precisely which part of the claim is correct and which part Theorem 1.9 rules out.

    Solution

    The correct part: with a very large sample the distribution of \(X=\lvert Y\rvert\) is known very precisely, and therefore every identifiable function of the parameter is known very precisely. In particular \(\lvert\mu\rvert\) is, because \(E_\mu X^2=1+\mu^2\) and the sample second moment converges to it.

    The incorrect part is “including its sign”. The distribution of the entire sample is the same under \(\mu\) and under \(-\mu\) , for every sample size, because each observation has the same law under both and the observations are independent. Theorem 1.9 applies with \(\theta_1=\mu\) , \(\theta_2=-\mu\) , and \(g(\mu)=\mu\) whenever \(\mu\ne 0\) : no sequence of estimators can be consistent for \(\mu\) . Concretely, any rule that reports a positive sign with some probability under \(\mu\) reports a positive sign with exactly that probability under \(-\mu\) , so it is wrong under one of them at least half the time in the worst case. The million observations sharpen the histogram; they add nothing about a feature on which the histogram does not depend.

  10. For the lot of Example 1.5 with \(D=5\) , compute \(P_D(X=0)\) under the hypergeometric model and under the binomial approximation with success probability \(0.1\) , and explain from the dependence between draws why the hypergeometric value is the smaller one.

    Answer

    Hypergeometric: \(\binom{45}{10}/\binom{50}{10}\approx 0.3106\) . Binomial: \(0.9^{10}\approx 0.3487\) . Without replacement, each non-defective item drawn leaves a higher proportion of defectives among those remaining, so a run of ten non-defectives is less likely than under independent draws.

  11. An inspector samples until the \(r\) -th defective item appears, for a fixed \(r\ge 2\) , and records the total number \(N\) of items drawn; each item is independently defective with probability \(p\in(0,1)\) . (a) Write the probability mass function of \(N\) . (b) Show that \((r-1)/(N-1)\) has expectation \(p\) . (c) Deduce that \(r/N\) does not have expectation \(p\) , and say in which direction it errs on average.

    Solution

    (a) The event \(N=n\) means that the first \(n-1\) items contain exactly \(r-1\) defectives and item \(n\) is defective. Hence, for \(n=r,r+1,\dots\) ,

    \[ P_p(N=n)=\binom{n-1}{r-1}p^{r}(1-p)^{n-r}. \]

    (b) Use the identity \(\frac{r-1}{n-1}\binom{n-1}{r-1}=\binom{n-2}{r-2}\) , valid for \(n\ge r\ge 2\) . Then

    \[ E_p\Bigl[\frac{r-1}{N-1}\Bigr]=\sum_{n=r}^{\infty}\binom{n-2}{r-2}p^{r}(1-p)^{n-r} =p\sum_{k=r-1}^{\infty}\binom{k-1}{r-2}p^{r-1}(1-p)^{k-(r-1)}, \]

    where \(k=n-1\) . The last sum adds the probability mass function of the waiting time for the \((r-1)\) -th defective over all its possible values, so it equals \(1\) . Therefore \(E_p[(r-1)/(N-1)]=p\) .

    (c) For every \(n\ge r\) ,

    \[ \frac{r}{n}-\frac{r-1}{n-1}=\frac{n-r}{n(n-1)}\ge 0, \]

    with strict inequality whenever \(n>r\) , an event of positive probability. Taking expectations, \(E_p[r/N]>E_p[(r-1)/(N-1)]=p\) . The natural-looking proportion \(r/N\) overestimates \(p\) on average under this design. For \(r=3\) and \(p=0.15\) a direct summation gives \(E_p[3/N]\approx 0.2026\) . Under the binomial design of Example 1.1 the same proportion, defectives over items, has expectation exactly \(p\) . The record “3 in 20” is the same; the sampling distribution of the proportion is not.

  12. Let \(\widehat F_n\) be the empirical distribution function of a random sample of size \(n=25\) from a continuous distribution with median \(m\) . Find the exact distribution of \(25\,\widehat F_{25}(m)\) , the standard deviation of \(\widehat F_{25}(m)\) , and the smallest \(n\) for which the standard deviation of \(\widehat F_n(x)\) is at most \(0.02\) for every \(x\) and every \(F\) .

    Answer

    \(25\,\widehat F_{25}(m)\sim\operatorname{Binomial}(25,1/2)\) , because \(F(m)=1/2\) for a continuous distribution. The standard deviation of \(\widehat F_{25}(m)\) is \(\sqrt{0.25/25}=0.1\) . The worst case over \(x\) and \(F\) is \(1/(2\sqrt n)\) , and \(1/(2\sqrt n)\le 0.02\) requires \(n\ge 625\) .

  13. Lifetimes \(T_1,\dots,T_n\) are a random sample from \(\operatorname{Exp}(\lambda)\) , but the only thing recorded for each unit is whether it survived past a fixed time \(c>0\) . Write the model for the recorded data, determine whether \(\lambda\) is identifiable, and express \(\lambda\) in terms of a probability that the recorded data can estimate.

    Answer

    The recorded data are \(B_i=\mathbf 1\{T_i>c\}\) , independent Bernoulli variables with success probability \(q=e^{-\lambda c}\) . The map \(\lambda\mapsto e^{-\lambda c}\) is strictly decreasing on \((0,\infty)\) , so \(\lambda\) is identifiable, with \(\lambda=-\log(q)/c\) where \(q=P_\lambda(B_i=1)\) .

  14. A threshold device observes \(Y\sim N(\mu,\sigma^2)\) and reports only \(B=\mathbf 1\{Y>0\}\) . (a) With \(\sigma=1\) known, show \(\mu\) is identifiable from the distribution of \(B\) . (b) With both parameters unknown, show that \((\mu,\sigma)\) is not identifiable, and identify the function of the parameter that is.

    Answer

    (a) \(P_\mu(B=1)=P(Y>0)=\Phi(\mu)\) , and \(\Phi\) is strictly increasing, so \(\mu=\Phi^{-1}(P_\mu(B=1))\) . (b) \(P(B=1)=\Phi(\mu/\sigma)\) , so \((1,1)\) and \((2,2)\) give the same law. The identifiable function is the ratio \(\mu/\sigma\) .

  15. In the model \(Y_i=\beta_1x_{i1}+\beta_2x_{i2}+\varepsilon_i\) with independent \(\varepsilon_i\sim N(0,1)\) and known constants satisfying \(x_{i2}=2x_{i1}\) for every \(i\) , with not all \(x_{i1}\) equal to zero, show that \((\beta_1,\beta_2)\) is not identifiable and that \(\beta_1+2\beta_2\) is.

    Solution

    Write \(x_{i2}=2x_{i1}\) in the mean: \(E\,Y_i=\beta_1x_{i1}+2\beta_2x_{i1}=(\beta_1+2\beta_2)x_{i1}\) . The observations are independent normal variables with variance \(1\) and these means, so the distribution of the data depends on \((\beta_1,\beta_2)\) only through \(\gamma=\beta_1+2\beta_2\) .

    Not identifiable: the parameter values \((1,0)\) and \((-1,1)\) both have \(\gamma=1\) , so they give the same distribution of \((Y_1,\dots,Y_n)\) , and they are different points.

    Identifiable function: choose an index \(i\) with \(x_{i1}\ne 0\) , which exists by hypothesis. Then \(\gamma=E(Y_i)/x_{i1}\) is recovered from the distribution of the data, so by Proposition 1.7 the combination \(\beta_1+2\beta_2\) is identifiable. In matrix language the design matrix with columns \((x_{i1})\) and \((x_{i2})\) has rank \(1\) , not \(2\) ; the data determine the mean vector, and the mean vector determines only one linear combination of the two coefficients.

  16. Let \(f_0\) be a known density with finite mean \(m_0\) . Prove that the location family \(\{f_0(x-\mu):\mu\in\mathbb R\}\) is identifiable. Then give a different argument that does not need a finite mean, using the fact that a distribution function tends to \(0\) at \(-\infty\) and to \(1\) at \(+\infty\) .

    Solution

    With a finite mean: if \(X\) has density \(f_0(x-\mu)\) then \(X-\mu\) has density \(f_0\) , so \(E\,X=\mu+m_0\) . If two location parameters \(\mu_1\) and \(\mu_2\) give the same distribution, they give the same mean, so \(\mu_1+m_0=\mu_2+m_0\) and \(\mu_1=\mu_2\) .

    Without a finite mean: let \(F_0\) be the distribution function of \(f_0\) . The distribution function of the member with location \(\mu\) is \(F_0(x-\mu)\) . Suppose \(F_0(x-\mu_1)=F_0(x-\mu_2)\) for all \(x\) , and put \(d=\mu_1-\mu_2\) . Substituting \(x=y+\mu_1\) gives \(F_0(y)=F_0(y+d)\) for every \(y\) , and by repeating the step, \(F_0(y)=F_0(y+kd)\) for every integer \(k\) . If \(d\ne 0\) , letting \(k\to\infty\) in one direction sends \(y+kd\) to \(+\infty\) and in the other to \(-\infty\) , so \(F_0(y)=1\) and \(F_0(y)=0\) at once, a contradiction. Hence \(d=0\) . This argument covers the Cauchy location family, whose mean does not exist.

  17. Prove that if \(g_1\) and \(g_2\) are identifiable functions on \(\Theta\) and \(\psi\) is any function of two variables, then \(\psi(g_1(\theta),g_2(\theta))\) is identifiable. Use this and Example 1.4 to decide, with reasons, whether \(\lambda\pi^2\) is identifiable from \(Y\) alone.

    Hint

    If \(P_{\theta_1}=P_{\theta_2}\) then \(g_1\) and \(g_2\) agree at the two parameters, so any function of the pair agrees too. For the second part the first statement cannot help, because \(\lambda\pi^2\) is not a function of \(\lambda\pi\) . Test the two parameter values used in Example 1.4.

  18. To estimate the size \(N\) of a fish population, \(20\) fish are caught, marked, and released; later \(10\) fish are caught and \(4\) of them are found to be marked. Model the number of marked fish in the second catch, show that \(N\) is identifiable on \(\{20,21,22,\dots\}\) , and compute the probability of the observed count for \(N=40\) , \(N=50\) , and \(N=60\) .

    Solution

    The second catch is a sample of \(10\) drawn without replacement from a population of \(N\) fish of which \(20\) are marked, so the number \(X\) of marked fish in it is hypergeometric:

    \[ P_N(X=x)=\frac{\binom{20}{x}\binom{N-20}{10-x}}{\binom{N}{10}} . \]

    For identifiability, look at the single probability \(P_N(X=10)=\binom{20}{10}/\binom{N}{10}\) . The denominator \(\binom{N}{10}\) is strictly increasing in \(N\) for \(N\ge 10\) , so this probability is strictly decreasing in \(N\) on \(\{20,21,\dots\}\) and takes a different value at each \(N\) . By Proposition 1.7, \(N\) is identifiable.

    For the observed count \(x=4\) :

    \[ P_{40}(X=4)\approx 0.2215,\qquad P_{50}(X=4)\approx 0.2801,\qquad P_{60}(X=4)\approx 0.2467 . \]

    Among the three, \(N=50\) makes the observation most probable. That agrees with the proportion argument: the marked fraction in the second catch is \(4/10\) , and setting \(20/N=4/10\) gives \(N=50\) .

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