Nonparametric least squares estimation in derivative families

Cost function estimation often involves data on a function and a family of its derivatives. Such data can substantially improve convergence rates of nonparametric estimators. We propose series-type estimators which incorporate the various derivative data into a single nonparametric least-squares procedure. Convergence rates are obtained and it is shown that for low-dimensional cases, much of the beneficial impact is realized even if only data on ordinary first-order partials are available. In instances where root-n$n$ consistency is attained, smoothing parameters can often be chosen very easily, without resort to cross-validation. Simulations and an illustration of cost function estimation are included.