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Approximate Bayesian computation allows for statistical analysis in models with intractable likelihoods. In this paper we consider the asymptotic behaviour of the posterior distribution obtained by this method. We give general results on the rate at which the posterior distribution concentrates on sets containing the true parameter, its limiting shape, and the asymptotic distribution of the posterior mean. These results hold under given rates for the tolerance used within the method, mild regularity conditions on the summary statistics, and a condition linked to identification of the true parameters. Implications for practitioners are discussed.

Summary We analyse the behaviour of approximate Bayesian computation (ABC) when the model generating the simulated data differs from the actual data‐generating process, i.e. when the data simulator in ABC is misspecified. We demonstrate both theoretically and in simple, but practically relevant, examples that when the model is misspecified different versions of ABC can yield substantially different results. Our theoretical results demonstrate that even though the model is misspecified, under regularity conditions, the accept–reject ABC approach concentrates posterior mass on an appropriately defined pseudotrue parameter value. However, under model misspecification the ABC posterior does not yield credible sets with valid frequentist coverage and has non‐standard asymptotic behaviour. In addition, we examine the theoretical behaviour of the popular local regression adjustment to ABC under model misspecification and demonstrate that this approach concentrates posterior mass on a pseudotrue value that is completely different from accept–reject ABC. Using our theoretical results, we suggest two approaches to diagnose model misspecification in ABC. All theoretical results and diagnostics are illustrated in a simple running example.

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A computationally simple approach to inference in state space models is proposed, using approximate Bayesian computation (ABC). ABC avoids evaluation of an intractable likelihood by matching summary statistics for the observed data with statistics computed from data simulated from the true process, based on parameter draws from the prior. Draws that produce a 'match' between observed and simulated summaries are retained, and used to estimate the inaccessible posterior. With no reduction to a low-dimensional set of sufficient statistics being possible in the state space setting, we define the summaries as the maximum of an auxiliary likelihood function, and thereby exploit the asymptotic sufficiency of this estimator for the auxiliary parameter vector. We derive conditions under which this approach -including a computationally efficient version based on the auxiliary score -achieves Bayesian consistency. To reduce the well-documented inaccuracy of ABC in multi-parameter settings, we propose the separate treatment of each parameter dimension using an integrated likelihood technique. Three stochastic volatility models for which exact Bayesian inference is either computationally challenging, or infeasible, are used for illustration. We demonstrate that our approach compares favorably against an extensive set of approximate and exact comparators. An empirical illustration completes the paper.