Univariate Mean Change Point Detection: Penalization, CUSUM and Optimality

The problem of univariate mean change point detection and localization based on a sequence of $n$ independent observations with piecewise constant means has been intensively studied for more than half century, and serves as a blueprint for change point problems in more complex settings. We provide a complete characterization of this classical problem in a general framework in which the upper bound $\sigma^2$ on the noise variance, the minimal spacing $\Delta$ between two consecutive change points and the minimal magnitude $\kappa$ of the changes, are allowed to vary with $n$. We first show that consistent localization of the change points, when the signal-to-noise ratio $\frac{\kappa \sqrt{\Delta}}{\sigma} < \sqrt{\log(n)}$, is impossible. In contrast, when $\frac{\kappa \sqrt{\Delta}}{\sigma}$ diverges with $n$ at the rate of at least $\sqrt{\log(n)}$, we demonstrate that two computationally-efficient change point estimators, one based on the solution to an $\ell_0$-penalized least squares problem and the other on the popular wild binary segmentation algorithm, are both consistent and achieve a localization rate of the order $\frac{\sigma^2}{\kappa^2} \log(n)$. We further show that such rate is minimax optimal, up to a $\log(n)$ term

Heterogeneous Change Point Inference

We propose HSMUCE (heterogeneous simultaneous multiscale change-point estimator) for the detection of multiple change-points of the signal in a heterogeneous gaussian regression model. A piecewise constant function is estimated by minimizing the number of change-points over the acceptance region of a multiscale test which locally adapts to changes in the variance. The multiscale test is a combination of local likelihood ratio tests which are properly calibrated by scale dependent critical values in order to keep a global nominal level alpha, even for finite samples. We show that HSMUCE controls the error of over- and underestimation of the number of change-points. To this end, new deviation bounds for F-type statistics are derived. Moreover, we obtain confidence sets for the whole signal. All results are non-asymptotic and uniform over a large class of heterogeneous change-point models. HSMUCE is fast to compute, achieves the optimal detection rate and estimates the number of change-points at almost optimal accuracy for vanishing signals, while still being robust. We compare HSMUCE with several state of the art methods in simulations and analyse current recordings of a transmembrane protein in the bacterial outer membrane with pronounced heterogeneity for its states. An R-package is available online

Multiscale Change-Point Inference

We introduce a new estimator SMUCE (simultaneous multiscale change-point estimator) for the change-point problem in exponential family regression. An unknown step function is estimated by minimizing the number of change-points over the acceptance region of a multiscale test at a level \alpha. The probability of overestimating the true number of change-points K is controlled by the asymptotic null distribution of the multiscale test statistic. Further, we derive exponential bounds for the probability of underestimating K. By balancing these quantities, \alpha will be chosen such that the probability of correctly estimating K is maximized. All results are even non-asymptotic for the normal case. Based on the aforementioned bounds, we construct asymptotically honest confidence sets for the unknown step function and its change-points. At the same time, we obtain exponential bounds for estimating the change-point locations which for example yield the minimax rate O(1/n) up to a log term. Finally, SMUCE asymptotically achieves the optimal detection rate of vanishing signals. We illustrate how dynamic programming techniques can be employed for efficient computation of estimators and confidence regions. The performance of the proposed multiscale approach is illustrated by simulations and in two cutting-edge applications from genetic engineering and photoemission spectroscopy

Algebraic Change-Point Detection

Elementary techniques from operational calculus, differential algebra, and noncommutative algebra lead to a new approach for change-point detection, which is an important field of investigation in various areas of applied sciences and engineering. Several successful numerical experiments are presented

Graph-Based Change-Point Detection

We consider the testing and estimation of change-points -- locations where the distribution abruptly changes -- in a data sequence. A new approach, based on scan statistics utilizing graphs representing the similarity between observations, is proposed. The graph-based approach is non-parametric, and can be applied to any data set as long as an informative similarity measure on the sample space can be defined. Accurate analytic approximations to the significance of graph-based scan statistics for both the single change-point and the changed interval alternatives are provided. Simulations reveal that the new approach has better power than existing approaches when the dimension of the data is moderate to high. The new approach is illustrated on two applications: The determination of authorship of a classic novel, and the detection of change in a network over time

Optimal change point detection and localization in sparse dynamic networks

We study the problem of change point localization in dynamic networks models. We assume that we observe a sequence of independent adjacency matrices of the same size, each corresponding to a realization of an unknown inhomogeneous Bernoulli model. The underlying distribution of the adjacency matrices are piecewise constant, and may change over a subset of the time points, called change points. We are concerned with recovering the unknown number and positions of the change points. In our model setting, we allow for all the model parameters to change with the total number of time points, including the network size, the minimal spacing between consecutive change points, the magnitude of the smallest change and the degree of sparsity of the networks. We first identify a region of impossibility in the space of the model parameters such that no change point estimator is provably consistent if the data are generated according to parameters falling in that region. We propose a computationally-simple algorithm for network change point localization, called network binary segmentation, that relies on weighted averages of the adjacency matrices. We show that network binary segmentation is consistent over a range of the model parameters that nearly cover the complement of the impossibility region, thus demonstrating the existence of a phase transition for the problem at hand. Next, we devise a more sophisticated algorithm based on singular value thresholding, called local refinement, that delivers more accurate estimates of the change point locations. Under appropriate conditions, local refinement guarantees a minimax optimal rate for network change point localization while remaining computationally feasible

Ratio tests for change point detection

We propose new tests to detect a change in the mean of a time series. Like many existing tests, the new ones are based on the CUSUM process. Existing CUSUM tests require an estimator of a scale parameter to make them asymptotically distribution free under the no change null hypothesis. Even if the observations are independent, the estimation of the scale parameter is not simple since the estimator for the scale parameter should be at least consistent under the null as well as under the alternative. The situation is much more complicated in case of dependent data, where the empirical spectral density at 0 is used to scale the CUSUM process. To circumvent these difficulties, new tests are proposed which are ratios of CUSUM functionals. We demonstrate the applicability of our method to detect a change in the mean when the errors are AR(1) and GARCH(1,1) sequences.Comment: Published in at http://dx.doi.org/10.1214/193940307000000220 the IMS Collections (http://www.imstat.org/publications/imscollections.htm) by the Institute of Mathematical Statistics (http://www.imstat.org

Dynamic change-point detection using similarity networks

From a sequence of similarity networks, with edges representing certain similarity measures between nodes, we are interested in detecting a change-point which changes the statistical property of the networks. After the change, a subset of anomalous nodes which compares dissimilarly with the normal nodes. We study a simple sequential change detection procedure based on node-wise average similarity measures, and study its theoretical property. Simulation and real-data examples demonstrate such a simply stopping procedure has reasonably good performance. We further discuss the faulty sensor isolation (estimating anomalous nodes) using community detection.Comment: appeared in Asilomar Conference 201