Adaptive Hausdorff estimation of density level sets

Abstract

Consider the problem of estimating the γ-level set G_γ^*={x: f(x)≥γ} of an unknown d-dimensional density function f based on n independent observations X₁, …, X_n from the density. This problem has been addressed under global error criteria related to the symmetric set difference. However, in certain applications a spatially uniform mode of convergence is desirable to ensure that the estimated set is close to the target set everywhere. The Hausdorff error criterion provides this degree of uniformity and, hence, is more appropriate in such situations. It is known that the minimax optimal rate of error convergence for the Hausdorff metric is (n/log n)^−1/(d+2α) for level sets with boundaries that have a Lipschitz functional form, where the parameter α characterizes the regularity of the density around the level of interest. However, the estimators proposed in previous work are nonadaptive to the density regularity and require knowledge of the parameter α. Furthermore, previously developed estimators achieve the minimax optimal rate for rather restricted classes of sets (e.g., the boundary fragment and star-shaped sets) that effectively reduce the set estimation problem to a function estimation problem. This characterization precludes level sets with multiple connected components, which are fundamental to many applications. This paper presents a fully data-driven procedure that is adaptive to unknown regularity conditions and achieves near minimax optimal Hausdorff error control for a class of density level sets with very general shapes and multiple connected components.