Forecast — the series · Normal Distribution

One forecast, and the band the arithmetic puts round it. An AR(1) with φ = 0.75, 60 observations, fitted by least squares and forecast 14 steps ahead. The point forecast decays towards the fitted mean at φ̂^h; the band is ±1.96 standard errors from σ̂²Σψ̂², which grows with the horizon and stops at the unconditional spread 1.72. The dashed pair is the same band computed at the true parameters, which nobody has. The marks past zero are what actually arrived: 12 of 14 inside the band this once, which is one draw and settles nothing.

What the model says next

The usual account of a time series stops at estimation. A forecast asks the other question — not what the parameter is but what the next observation will be — and the band round it is a closed form that grows with the horizon and then stops growing, at a value the series was going to reach anyway.

part 1 · forecast

What a 95% forecast interval covers, counted. 1200 series of 25 observations from an AR(1) with φ = 0.7, at each horizon, on one set of seeds. The upper line is the interval computed at the true parameters — it covers 95.3% on average, which is the check that σ²Σψ² is the right formula rather than a claim about anything a forecaster can do. The lower line is the same formula fed σ̂² and φ̂: 92.8% at one step and 87.3% at 6. The interval that would cover what it claims is 6.9% wider at one step.

The interval that forgets it estimated

The forecast band is derived for a model whose parameters are known, and then computed by putting estimates into it. Counted, the 95% interval covers 87.3% six steps ahead on twenty-five observations, and the point forecast inside it returns to the mean a third faster than the series does.

part 2 · forecast

One comparison, and the two error bars it can be given. 60 rolling origins, a window of 60 observations, forecasts 4 steps ahead, at the persistence φ = 0.8256 where the two benchmarks have exactly equal population mean squared error. Each mark is one origin's difference in squared error; the horizontal line is their mean, 0.6522. The two vertical bars at the right are ±1.96 standard errors round that mean computed two ways — 0.5337 treating the differences as independent, 0.6880 allowing for the overlap between neighbouring forecasts. The null is true here by construction, so an interval that excludes zero is a mistake, and the narrow one does it far more often than the wide one.

Which forecast is better

Two forecasters, one series, and a difference in mean squared error. Whether that difference is real is a hypothesis test, its terms are not independent, and the standard error it needs is not the one a t-test computes.

part 3 · evaluation

Shocks that are not normal

Every forecast interval in this field reads a normal quantile, and every series it was scored on had normal shocks. Give a first-order autoregression shocks with heavy tails and the 95% interval still covers about 95%; its 99% interval covers 98.2%. Give it skewed shocks and the 95% interval covers 94.8% one step ahead with every miss on one side — 0.0% below, 5.2% above — and the horizon does not repair it: twelve steps ahead the misses are still 0.0% below and 4.9% above, because a persistence of 0.7 keeps the error's skewness at 1.11 however far out the forecast goes. A two-sided coverage count cannot see any of this.

part 3 · forecast

A test between nested models, under a null that is true. 1000 comparisons: an AR(1) truth, forecast by a fitted AR(1) and by a fitted AR4 whose extra coefficients are zero. In population the two forecasts are identical, so every rejection is false. The larger model's mean squared error is 1.1663 against 1.0583 — worse, by exactly the noise in estimating coefficients that are not there — and the ordinary test therefore declares the smaller model significantly better 67.2% of the time. Read one-sided in the direction anybody asks about, it finds the larger model better 0.0% of the time. Adding the squared difference between the two forecasts back into the loss differential puts the level at 4.9%.

When one model contains the other

The comparison a forecaster most often wants is between a model and the same model with one more term. That is exactly the comparison the standard test cannot make — and it fails by declaring the smaller model significantly better, more confidently the more data it is given.

part 4 · evaluation

Which side the misses fall on. Misses of a nominal 95% forecast interval 1 step ahead on 60 observations of a first-order autoregression at 0.7, split by side. normal shocks: the interval as printed 3.1% below and 3.1% above, shocks from the residuals 3.8% below and 4.2% above, the same, coefficient re-estimated 3.3% below and 4.4% above. Student's t on five: the interval as printed 3.3% below and 3.0% above, shocks from the residuals 3.9% below and 3.0% above, the same, coefficient re-estimated 3.6% below and 3.1% above. skewed shocks: the interval as printed 0.0% below and 6.5% above, shocks from the residuals 4.3% below and 4.1% above, the same, coefficient re-estimated 1.8% below and 4.3% above.

A tail sixty residuals have barely seen

A forecast interval that reads a normal quantile has every one of its misses on one side when the shocks are skewed, and the natural repair is to draw future shocks from the model's own residuals. It works on the side: 0.0% below and 6.5% above becomes 4.3% and 4.1%. It pays for that with coverage, 93.5% to 91.6%, and on sixty observations it does this under normal shocks too. And a nominal 99% interval has a ceiling nothing in the resampling can lift, because one new shock beats all of sixty old ones in either direction with probability 3.3%.

part 4 · forecast

Three quantities, and only one of them crosses zero. Two forecasts of an AR(1) — the last value carried forward and the mean of the last 60 observations — at 1 step ahead. The curve through zero is σ₁² − σ₂², the difference in expected squared error that a comparison of accuracy tests; it changes sign at φ = 0.4922. The two curves above it are σ₁² − σ₁₂ and σ₂² − σ₁₂, the quantities the two encompassing tests are about, and neither of them comes near zero anywhere: the smallest value either takes across the range is 0.008 times the variance of the series. All three are closed forms in φ, R and h with no simulation in them. Equal accuracy is one hypothesis about this picture and encompassing is another, and a set of numbers can satisfy either without the other.

What the other forecast adds

Two forecasters, one series, and two different questions about them. Which is more accurate has an answer that changes with the persistence of the series; whether either is redundant has an answer that never changes at all.

part 5 · ranking

What each variant loses before anything has been searched for. The mean loss differential of each of the eight variants against the benchmark, over 600 tables of 60 origins, with every fit given 71 rows. The series is an AR(1) and every variant adds a lag whose coefficient is zero, so in population the two forecasts are the same forecast and the difference drawn here is estimation noise and nothing else. The marked line is σ²(q₁ − q₀)/n = -0.01408, which is an expression in how many coefficients each model has and how many rows it was fitted on — it knows nothing about the series, the persistence or which lag the variant added, and every bar is within a fifth of it. This is the amount a reference distribution recentred at each column's own sample mean believes the candidates are already behind by.

A table of nested models

A benchmark and eight variants of it, each adding one thing. Every variant is behind before the search begins, by an amount that can be written down before the data exists — and the two most natural ways of reading the table are wrong in opposite directions.

part 6 · search

When the benchmark is a candidate

A specification search with a benchmark nailed down is the case with a closed form. Take the nail out — let the model that would have been reported be one of sixteen, chosen by the same data as its rivals — and the same true null is read three ways, at 2.0%, 7.8% and 76.2%.

part 7 · select

The crossing is in the dependence, not in the split. Regret of each rule as the design and the errors are made persistent at the same coefficient, scored on fresh rows because the closed form assumes exactly what is being taken away. An optimism theorem counts rows; when the rows repeat each other there are fewer of them than there are rows, the penalty is too small for the fit it is correcting, and the criterion starts buying coefficients it should not — its average winner grows from 3.31 coefficients to 3.90. The hold-out never used the theorem and overtakes at ρ ≈ 0.81. Schwarz's criterion, worst of the three on independent rows, is best on repeating ones — its heavier penalty is right for the wrong reason.

Where the two searches cross

The obvious dial between a criterion and a hold-out is how much of the sample to hold out, and moving it never changes the answer. The dial that does is one nobody chooses — how much each row repeats the one before it — and the two rules change places at about 0.81.

part 8 · proxy

The row count entered twice, and a penalty is one place. Regret against the best available model as the errors are made persistent. Counting rows more than quadruples; both penalty repairs — the trace, and the scalar effective sample size — are worse than it at every persistence measured; and whitening the sample and keeping the ordinary penalty falls, recovering 86.9% of what counting rows gives up at ρ = 0.85. Doing it at an estimated ρ recovers 80.6%, so having to estimate the dependence from the rows being selected on costs 7.3% of what knowing it is worth. Mallows' forms are drawn beside the logarithmic ones and behave the same, which is what rules the linearisation out.

The repair that was exact and made it worse

A penalty computed from the trace is exactly the optimism it estimates, and selecting with it gives up a fifth more than not correcting anything. The row count entered the criterion twice, and a penalty is the second place.

part 9 · effective

A penalty that counts independent rows

Akaike's penalty charges a fit two error variances a coefficient because each coefficient is fitted from n independent rows. When the design and the errors both persist, a row is worth less than a row, and the honest charge is twice the coefficient's variance inflation. On a hundred and twenty rows at persistence 0.7 that charge is 34.7 against an optimism counted at 34.5, where Akaike's charges 10. Charged it, the criterion's regret at 0.95 falls from 0.128 to 0.032 with the persistences given and to 0.065 when they are read off the sample — and at 0.5, where the charge is right and Akaike's is half of it, Akaike's still selects better.

part 9 · proxy

Three charges and two counts. The optimism of an in-sample fit of the widest candidate on 120 rows, in units of its own error variance, over 1500 draws, by persistence. Counted on the 40 rows straight after the sample: 11.1, 21.5, 35.6, 51.5, 65.5, 87.8, 119.1. Counted on rows 600 further on: 9.3, 18.3, 33.0, 50.6, 67.0, 96.1, 159.0. Charged by the long-series inflation: 10.0, 19.3, 34.7, 54.4, 74.3, 114.2, 234.1. Charged by the same inflation summed over the sample's rows: 10.0, 19.2, 34.2, 53.1, 71.8, 108.2, 208.8. Charged by twice the trace of the hat matrix against the errors' correlation on the sample's own design: 10.0, 18.7, 32.0, 47.5, 61.5, 85.2, 132.2.

A charge the sample can afford

The inflation charge for dependent rows runs to twice the counted optimism at persistence 0.95, and the reason offered was that a series of n rows cannot be optimistic about movements slower than n rows. Summing the inflation over n rows does almost nothing: 234 becomes 209, against 119 counted. Evaluating the same variance on the sample's own design gives 132, and moving the fresh rows away from the sample raises the count to 159. So the charge can be made nearly right, and when it is, the regret doubles from 0.032 to 0.061. A selection wants a much larger charge than the optimism, and past about fifty per predictor it is no longer selecting.

part 10 · proxy