The Glivenko--Cantelli theorem is a uniform version of the strong law of large numbers. It states that for every IID sequence of random variables, the empirical measure converges to the underlying distribution (in the sense of uniform convergence of the CDF). In this work, we provide tools to study such limits of empirical measures in categorical probability. We propose two axioms, namely permutation invariance and empirical adequacy, that a morphism of type $X^{\mathbb{N}} \to X$ should satisfy to be interpretable as taking an infinite sequence as input and producing a sample from its empirical measure as output. Since not all sequences have a well-defined empirical measure, such \emph{empirical sampling morphisms} live in quasi-Markov categories, which, unlike Markov categories, allow for partial morphisms. Given an empirical sampling morphism and a few other properties, we prove representability as well as abstract versions of the de Finetti theorem, the Glivenko--Cantelli theorem and the strong law of large numbers. We provide several concrete constructions of empirical sampling morphisms as partially defined Markov kernels on standard Borel spaces. Instantiating our abstract results then recovers the standard Glivenko--Cantelli theorem and the strong law of large numbers for random variables with finite first moment. Our work thus provides a joint proof of these two theorems in conjunction with the de Finetti theorem from first principles.

We use Markov categories to generalize the basic theory of Markov chains and hidden Markov models to an abstract setting. This comprises characterizations of hidden Markov models in terms of conditional independences and algorithms for Bayesian filtering and smoothing applicable in all Markov categories with conditionals. When instantiated in appropriate Markov categories, these algorithms specialize to existing ones such as the Kalman filter, forward-backward algorithm, and the Rauch–Tung–Striebel smoother. We also prove that the sequence of outputs of our abstract Bayes filter is itself a Markov chain with a concrete formula for its transition maps. There are two main features of this categorical framework. The first is its abstract generality, as manifested in our unified account of hidden Markov models and algorithms for filtering and smoothing in discrete probability, Gaussian probability, measure-theoretic probability, possibilistic nondeterminism and others at the same time. The second feature is the intuitive visual representation of information flow in terms of string diagrams.