  Stationary time series models built from parametric distributions are, in
general, limited in scope due to the assumptions imposed on the residual
distribution and autoregression relationship. We present a modeling approach
for univariate time series data, which makes no assumptions of stationarity,
and can accommodate complex dynamics and capture nonstandard distributions. The
model for the transition density arises from the conditional distribution
implied by a Bayesian nonparametric mixture of bivariate normals. This implies
a flexible autoregressive form for the conditional transition density, defining
a time-homogeneous, nonstationary, Markovian model for real-valued data indexed
in discrete-time. To obtain a more computationally tractable algorithm for
posterior inference, we utilize a square-root-free Cholesky decomposition of
the mixture kernel covariance matrix. Results from simulated data suggest the
model is able to recover challenging transition and predictive densities. We
also illustrate the model on time intervals between eruptions of the Old
Faithful geyser. Extensions to accommodate higher order structure and to
develop a state-space model are also discussed.
