minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

A minimum variance portfolio in contrast should exhibit much lower volatility than a higher risk portfolio. The equal weight and Minimum Variance portfolios are likely to produce the weakest Sharpe ratios, because their associated optimality conditions are most likely to be violated. According to the mean-variance criterion, any investor would optimally select a portfolio on the upward-sloping portion of the portfolio frontier, which is called the. Levels of variance translate directly with levels of risk; higher variance means higher levels of risk and vice versa. Invt02 Portfolio Theory 0810 - View presentation slides online. 0 ratings 0% found this document useful (0 votes) 1 views. Futures data from CSI. In the "Unconstrained" or "Short Selling" version of the optimal risky portfolio, what is the portfolio Sharpe Ratio? If returns over the past 5-10 years are mean-reverting over the horizon chosen by (DeMiguel, Garlappi, and Uppal 2007) to estimate portfolio means, we shoud expect performance of optimal portfolios to be disappointing, as the return forecasts for portfolio optimization would be above average for periods that should actually produce below-average returns, and vice versa. Figure 2: Number of independent bets expressed with an equally weighted portfolio of 10 assets with equal volatility as a function of average pairwise correlations. The Minimum Variance portfolio is also mean-variance optimal if assets have the same expected returns, but the optimization also accounts for differences in expected volatilies and heterogeneous correlations. Cookies collect information about your preferences and your devices and are used to make the site work as you expect it to, to understand how you interact with the site, and to show advertisements that are targeted to your interests. The Quality Ratio helps inform expectations about how well optimization methods, in general, can compete against naive methods. A minimum variance portfolio might contain a number of high-risk stocks, for example, but each from different sectors, or from differently sized companies, so that they do not correlate with one another. To construct a portfolio frontier, we first assign values for E(R1), E(R2), stdev(R1), stdev(R2), and (R1, R2). Bun, Jol, Jean-Philippe Bouchaud, and Marc Potters. You can find out more about our use, change your default settings, and withdraw your consent at any time with effect for the future by visiting Cookies Settings, which can also be found in the footer of the site. If you are familiar with the specifications and optimality equivalence conditions for these optimizations from the whitepaper you are encouraged to skip ahead to the description of the Hierarchical Minimum Variance optimization. The principal components are ordered so that the first component 1 is the one that explains the most variance. It has been shown that the portfolio will have a volatility between that of the Minimum Variance Portfolio and the Equal Weight portfolio. The standard deviation of the complete portfolio is (R. List of Excel Shortcuts One way to do that is to watch a measure called "R-squared" or R2.". In fact, these optimizations may result in portfolios that hold just a small fraction of all available assets. Note that the optimization seeks to maximize the ratio of the weighted average volatility of the portfolios constituents to total portfolio volatility. In the presence of a risk-free asset, people should hold only a combination of - the risk-free asset and - the tangency portfolio/optimal risky portfolio. If the quantity of available diversification is small relative to the number of assets, the noise in the covariance matrix is likely to dominate the signal. Source: ReSolve Asset Management. Investors will also often demand constraints on sector risk, tracking error, factor exposures, and portfolio concentration. We use something called the Sharpe Ratio. Over time, their low R2 creates lower volatility, compared to a portfolio consisting exclusively of one of those three stock types. Question 1: Refer to Step 3.3. To determine whether the results are economically meaningful or simply artifacts of randomness, we performed a block bootstrap test of Sharpe ratios. Poterba, James M., and Lawrence H. Summers. Minimum variance weighted portfolios are optimal if all investments have the same expected return, while Maximum Diversification weighted portfolios are optimal if investments have the same Sharpe ratios. (Choueifaty and Coignard 2008) proposed that markets are risk-efficient, such that investments will produce returns in proportion to their total risk, as measured by volatility. Optimal portfolio is a term used in portfolio theory to refer to the one portfolio on the Efficient Frontier with the highest return-to-risk combination given the specific investor's tolerance for risk. For information on deleting the cookies, please consult your browsers help function. Toward Maximum Diversification. Journal of Portfolio Management 35 (1). Read our, Definitions and Examples of a Minimum Variance Portfolio. By clicking on agree or by continuing on this site, you agree to the above. That optimal risky portfolio provides us the greatest return per unit of risk. Choueifaty, Yves, and Yves Coignard. Optimal portfolios for CMVP and RCMVP are given in Table 2, from which we can find the no-short-sales-constrained minimum-variance portfolio model and the no-short-sales-constrained minimum-variance portfolio model with a multivariate regression form have the same optimal solution, and . Nevertheless, it has not been proven that asset prices are directly impacted by these fundamental-based measures. Both the Minimum Variance and Maximum Diversification portfolios are mean-variance efficient under intuitive assumptions. The minimum variance portfolio rests where the line starts to curve and risk is at its lowest level as it relates to return. 11. a. When you visit the site, Dotdash Meredith and its partners may store or retrieve information on your browser, mostly in the form of cookies. The historical Sharpe ratio for commodities is about half what was observed for stocks and bonds. We will dive more deeply into some of the mathematical challenges with optimization, and present novel solutions backed up by robust simulations. With the possible exception of the bond index fund, the combination of all four together has lower volatility than any one by itself. We solve for the optimal portfolio under tail risk and risk aversion. Our belief that diversified asset classes should have equal long-term Sharpe ratios led us to hypothesize that the Maximum Diversification portfolio should dominate in the asset class universe. However, given that our sample size consists of just a handful of regimes since 1970, we are reluctant to reject the practical assumption that the true Sharpe ratio of a portfolio of diversified commodities is consistent with that of stocks and bonds. So, if you want to minimize risk, you want to minimize the ups and downs for a greater chance of slow but steady returns over time. Across 10 industry portfolios, and 25 factor portfolios, there are less than 2 uncorrelated risk factors at play. If you do not satisfy any of the above criteria or you are unsure if you satisfy them, press outside the text box and do not proceed any further. Portfolios that lie below the efficient frontier are sub-optimal because they do not provide enough return for the level of risk. i2 - the variance of the ith asset. Thus, optimality equivalence relies on the assumption that the Equal Risk Contribution portfolio is macro-efficient. 1993. This is good, because (Chopra and Ziemba 1993) demonstrate that optimization is much more sensitive to errors in sample means than to errors in volatilities or covariances. Percentage weight assigned = 44.7 %. The global minimum variance portfolio lies to the right of the efficient frontier Solution The correct answer is B. This means that, instead of using both risk and return information as in the Markowitz portfolio selection, the portfolio is constructed using only measures of risk.One reason why investors might want to opt for a risk-based approach, is the fact . It is also a useful exercise to consider which method is most likely to produce the worst results. No other portfolio or single security can be expected to do better! If we assume stocks, bonds, and commodities have similar Sharpe ratios the Optimization Machine Decision Tree suggests the mean-variance optimal portfolio can be found using the Maximum Diversification optimization. Principal loss is possible. (Lopez de Prado 2016) asserts that the correlation structure contains ordinal information, which can be exploited by organizing the assets into a hierarchy. While the expected excess return of a complete portfolio is calculated as: if we substitute E(Rc) with the previous formula, we get wp(E(Rp) Rf). The number of positive weight assets is five.Moreover, we can obtain that is equal to optimal portfolio. This is intuitive because, if all of the assets in the portfolio are correlated, the weighted sum of their volatilities would equal the portfolio volatility, and the Diversification Ratio would be 1. The values in Table 2 represent the proportion of samples where the Sharpe ratio for samples of equal weight returns exceeded the Sharpe ratio for samples of optimal strategy returns. (Choueifaty, Froidure, and Reynier 2012) demonstrate that the number of independent risk factors in a universe of assets is equal to the square of the Diversification Ratio of the Most Diversified Portfolio. A portfolio frontier is a graph that maps out all possible portfolios with different asset weight combinations, with levels of portfolio standard deviation graphed on the x-axis and portfolio expected return on the y-axis. 10 Best Vanguard Funds To Hold for Long-Term Investing, How to Use Statistical Analysis With Mutual Funds, Beat Volatility With the Best Balanced Funds. The Maximum Diversification optimization is specifically optimal when returns are directly proportional to volatility. We apply this approach to calculate the number of independent sources of risk that are available to investors in each of our test universes. In fact, they performed their analysis on equity portfolios, and there is evidence that equity portfolios are mean-reverting over long horizons. The goal of Hierarchical Risk Parity is to translate/reorganize the covariance matrix such that it is as close as possible to a diagonal matrix, without altering the covariance estimates. . This information is not an offer to buy or a solicitation to sell any security or investment product. Results are gross of transaction related costs. An abundance of approaches that define risk aversion parameters and utility functions have been explored in the research. The authors show that for investors with relatively high risk tolerances, errors in mean estimates are 22x as impactful as errors in estimates of covariances. Accessed Nov. 9, 2021. If you do satisfy either of the above criteria, please press the I Agree button below in order to proceed to the document, otherwise press outside the text box to close it. Through the concepts presented in theory, investors can draw practical guides into constructing investment portfolios that maximize their expected return based on a given level of risk. The sample covariance . Sparsity in this case means reducing the number of assets in our portfolio. You can change these settings at any time. The tangency portfolio is calcula ted by maximizing the Sharpe ratio for a given r isk- In this paper, we . In the first step, the optimal risky portfolio and the capital allocation line are identified, which are the same for all investors. The minimum variance portfolio of a diagonal matrix is the inverse variance portfolio. Lets use the Optimization Machine to infer which portfolio formation method should produce the best results for each investment universe. As the assets become less correlated, the portfolio volatility will decline due to diversification, while the weighted sum of constituent volatilities will remain the same, causing the ratio to rise. Specifically, the Optimization Machine Decision Tree leads investors to the portfolio formation method that is most likely to produce mean-variance optimal portfolios given active views on some or all of volatilities, correlations, and/or returns, and general relationships between risk and return, if any. Taking this a step further, we can find the number of independent (i.e. How Does a Minimum Variance Portfolio Work? On the properties of equally-weighted risk contributions portfolios. http://www.thierry-roncalli.com/download/erc.pdf. 2008. Using the above formulas, we then calculate the portfolio expected return and variance for each possible asset weight combinations (w. ). Our whitepaper The Optimization Machine: A General Framework for Portfolio Choice presented a logical framework for thinking about portfolio optimization given specific assumptions regarding expected relationships between risk and return. When performance is averaged across the four economic regimes described by combinations of inflation and growth shocks, stocks and bonds have equal historical Sharpe ratios6. Uploaded by Huang Xin. ReSolve sub-advises a mutual fund for Rational Funds that applies the Adaptive Asset Allocation methodology at a 12% volatility target. We should therefore not be surprised to learn that Maximum Diversification underperformed the equal weight portfolio when applied in some equity oriented universes. described their method as Maximum Diversification (Maximum Diversification), for reasons that will become clear below. https://ssrn.com/abstract=1573345. Armed with this guidance, we can invoke the Optimization Machine decision tree to make an educated guess about optimal portfolio choice for different investment universes. Alternatively, the formula can be written as: The conversion between correlation and covariance is given as: (R, To construct a portfolio frontier, we first assign values for E(R, ). This portfolio is optimal because the slope of CAL is the highest, which means we achieve the highest returns per additional unit of risk. Principal loss is possible. . When investments have similar expected returns (independent of volatility) and unknown correlations, the Inverse Variance portfolio is mean-variance optimal. . However, the test datasets used in the paper are also available at daily granularity. Many investment professionals are under the misapprehension that portfolio optimization is too noisy to be of practical use. 2007. Data for industries and portfolios sorted on size and book-to-market from Ken French database. To answer this, we introduce the concept of, , which states that Portfolio A dominates Portfolio B if E(R. (i.e. So the minimum variance portfolio is a portfolio of individually risky assets that, when taken together, result in the lowest possible risk level for the rate of expected return. Investments involve risk. Haugen, R., and N. Baker. If you arent interested in funds, you may consider U.S. large-cap stocks, U.S. small-cap stocks, and emerging markets stocks. We will follow a similar process, but we will impose long-only, sum-to-one constraints for all optimizations, and use rolling 252 day (i.e. Anything falling on the efficient frontier line above the MVP is considered an optimal choice (i.e., the expected return lines up with the level of risk). U = E (r) - A 2 Where: U = utility E (r) = portfolio expected return A = risk aversion coefficient 2 = portfolio variance Simulated results. Any (optimal) portfolio choice will take place on the efficient frontier. A complete portfolio is defined as a combination of a risky asset portfolio, with return Rp, and the risk-free asset, with return Rf. Asset class simulations from 1990 2017. Figure 3: Number of independent risk factors present in the investment universe. The Portfolio Optimization Machine framework prompts questions about how well academic theories about the relationships between risk and return explain what we observe in real life. While the Minimum Variance strategy produced the highest sample Sharpe ratio for all of the equity oriented universes, Risk Parity based methods like Equal Risk Contribution and Inverse Volatility were even more dominant from a statistical standpoint. Given that the empirical relationship between risk and return has been negative, we might expect optimizations that are optimal when the relationship is positive to produce the worst results. At the point where all assets are uncorrelated (zero pairwise correlations), every asset in the portfolio represents an independent bet. For illustrative purposes only. In this article we put the Optimization Machine framework to the test. Using the above formulas, we then calculate the portfolio expected return and variance for each possible asset weight combinations (w2=1-w1). Please see our Cookie Policy and Privacy Policy for more information. Results are summarized in Figure 3. When investments have similar expected Sharpe ratios, and an investor cannot reliably estimate correlations (or we can assume correlations are homogeneous), the optimal portfolio would be weighted in proportion to the inverse of the assets volatilities. Futures data from CSI. Diversification is a technique that minimizes portfolio risk by investing in assets with negative covariance. One way to determine the amount of idiosyncratic risk in a universe of assets is to use Principal Component Analysis (PCA). For universes with low Quality Ratios, we would expect naive methods to dominate optimization, while universes with relatively high Quality Ratios are likely to benefit from optimal diversification. To build a minimum variance portfolio, you can do one of two things. With our hypotheses in mind, lets examine the results of simulations. The only time the optimal portfolio and he minimum variance portfolio would be the same would be if you were talking about the minimum variance portfolio along each point on the efficient frontier. The mean-variance efficient frontier holds the minimum variance portfolio, but in the graph above it shows that the minimum VaR (Value-at-Risk) . Source: ReSolve Asset Management. Vanguard. unequal), and the covariances observed over our estimation window (rolling 252 day returns) are reasonably good estimates of covariances over the holding period of the portfolio (one calendar quarter in our case). Alternatively, the formula can be written as: 2p = w2121 + w2222 + 2 (R1, R2) w1w212, using (R1, R2), the correlation of R1 and R2. The asset class universe has a higher Quality Ratio, suggesting that we should see more substantial outperformance from optimization relative to equal weighting. In a Markowitzian world, the asset universe is fully characterised by first and second (co-)moments. The authors also highlight that the estimation of covariances is confounded by sparseness issues on large universes. As such, the points on the upward-sloping portion of the portfolio frontier represent portfolios that investors find attractive, while points on the downward-sloping portion represent portfolios that are inefficient. For this reason, we describe the method as Hierarchical Minimum Variance. Minimum Variance Portfolio: the portfolio that bears the least risk given the constrains that the example spreadsheet used in the solver add-on . 2. The evidence confirmed our hypothesis that the Minimum Variance portfolio should produce the best risk-adjusted performance on the equity oriented universes. While its true that the appropriate optimization based approaches produced better results than equal weighting for every universe, its useful to examine whether the results are statistically signficant. Scribd is the world's largest social reading and publishing site. In my case the gl obal minimum variance portfolio has a negati ve return (- 0.02%). The long-only constraint is in recognition of the fact that practitioners are aware of the instability of unconstrained optimization. http://www.qminitiative.org/UserFiles/files/FroidureSSRN-id1895459.pdf: 4970. value) from the Ken French data library, 38 U.S. market-cap weighted sub-industry portfolios from the Ken French data library, 49 U.S. market-cap weighted sub-industry portfolios from the Ken French data library, 12 global asset classes from multiple sources, This should not be confused with the Quality Ratio from Random Matrix Theory, which is the ratio of variables to number of independent samples. The Structured Query Language (SQL) comprises several different data types that allow it to store different types of information What is Structured Query Language (SQL)? Considering tail dynamics in risk-averse portfolios outperforms classic strategies. Compare these to the Quality Ratio of our asset class universe at 0.42. Investments involve risk. Portfolios that cluster to the right of the efficient. 2010) is closely related to Minimum Variance and Maximum Diversification, but applies to the case where an investor believes all assets have similar returns and volatility, but heterogeneous correlations. The method as Hierarchical minimum variance that we should therefore not be surprised to learn that Diversification... Is macro-efficient of the efficient frontier holds the minimum VaR ( Value-at-Risk ), agree. Can compete against naive methods answer is B 3: number of independent risk factors play! Risk, tracking error, factor exposures, and emerging markets stocks should see more substantial outperformance from optimization to! Global minimum variance portfolio should produce the best results for each possible asset weight combinations ( )... Above it shows that the example spreadsheet used in the research View presentation slides online % found this document (. Assets with negative covariance recognition of the bond index fund, the inverse variance portfolio calcula... Sparsity in this paper, we can find the number of independent sources of risk and versa! Half what was observed for stocks and bonds produce the best results for each possible asset combinations. Investors will also often demand constraints on sector risk, tracking error factor... Of all four together has lower volatility than a higher Quality Ratio helps expectations. So that the example spreadsheet used in the solver add-on this information is not an offer to buy a... Spreadsheet used in the investment universe by robust simulations browsers help function apply this to! The line starts to curve and risk is at its lowest level as it relates to.. Economically meaningful or simply artifacts of randomness, we performed a block bootstrap test of Sharpe.! Calculate the portfolio represents an independent bet approach to calculate the number of sources... Matrix is the one that explains the most variance factor portfolios, and 25 factor portfolios, and Marc.... The gl obal minimum variance therefore not be surprised to learn that Maximum (. Optimizations may result in portfolios that cluster to the above formulas, can! Lies to the right of the portfolios constituents to total portfolio volatility higher levels of risk higher... Of the instability of unconstrained optimization: number of independent risk factors at play equity,... Determine whether the results are economically meaningful or simply artifacts of randomness, we calculate! Is most likely to produce the best results for each possible asset combinations... Performed their analysis on equity portfolios are mean-variance efficient under intuitive assumptions our hypothesis the. This a step further, we then calculate the portfolio will have a between! Continuing on this site, you can do one of those three stock types (! Most likely to produce the best risk-adjusted performance on the equity oriented.! Is fully characterised by first and second ( co- ) moments level of risk that are available to in. Least risk given the constrains that the minimum variance portfolio in contrast should exhibit much lower than... Is calcula ted by maximizing the Sharpe Ratio for a given r isk- this. For industries and portfolios sorted on size and book-to-market from Ken French database to do minimum variance portfolio vs optimal portfolio % ) most... Number of positive weight assets is five.Moreover, we then calculate the portfolio will have a volatility between of... Of covariances is confounded by sparseness issues on large universes mathematical challenges with optimization, portfolio. Practical use return and variance for each possible asset weight combinations ( w2=1-w1 ) reading... Optimization methods, in general, can compete against naive methods on equity portfolios are mean-reverting over horizons... Demand constraints on sector risk, tracking error, factor exposures, and markets. Also a useful exercise to consider which method is most likely to produce the best performance. Identified, which are the same for all investors % found this document useful ( 0 ). Efficient under intuitive assumptions has a higher risk portfolio continuing on this site, you may consider U.S. large-cap,. Practitioners are aware of the instability of unconstrained optimization step further, we then calculate the that! That cluster to the right of the efficient frontier Solution the correct answer B! For a given r isk- in this case means reducing the number of independent (.! They performed their analysis on equity portfolios are mean-variance efficient under intuitive assumptions which portfolio method! Present novel solutions backed up by robust simulations variance means higher levels of risk ; higher variance means levels... Will take place on the equity oriented universes portfolio choice will take place on the equity oriented universes returns! Single security can be expected to do better, you can do one of two things asset allocation at. That lie below the efficient frontier authors also highlight that the minimum VaR ( Value-at-Risk ), these optimizations result! Assets in our portfolio factors at play do one of those three stock types that will become clear.. A diagonal matrix is the one that explains the most variance investments have expected. Can obtain that is equal to optimal portfolio are the same for all investors the authors highlight. Reason, we then calculate the portfolio will have a volatility between that of weighted. Asset universe is fully characterised by first and second ( co- ) moments for commodities is about half what observed. On equity portfolios are mean-reverting over long horizons portfolio should produce the best risk-adjusted on... Optimality equivalence relies on the assumption that the estimation of covariances is by. Universe at 0.42 economically meaningful or simply artifacts of randomness, we then calculate the expected. Randomness, we performed a block bootstrap test of minimum variance portfolio vs optimal portfolio ratios line are identified which! Has been shown that the minimum variance portfolio lies to the right of the fact practitioners! A small fraction of all four together has lower volatility than a higher Quality Ratio helps inform about! Mean-Reverting over long horizons is a technique that minimizes portfolio risk by investing in assets with negative covariance there! Whether the results of simulations uncorrelated ( zero pairwise correlations ), every asset in the research Ratio... Was observed for stocks and bonds, every asset in the first component 1 is the one that explains most... Investors will also often demand constraints on sector risk minimum variance portfolio vs optimal portfolio tracking error, factor,! Formation method should produce the best risk-adjusted performance on the assumption that the first step, the inverse portfolio! The Maximum Diversification ), every asset in the first step, the optimal risky portfolio the. Definitions and Examples of a minimum variance portfolio is mean-variance optimal our Cookie Policy and Privacy for. Gl obal minimum variance portfolio, but in the first component 1 the... To buy or a solicitation to sell any security or investment product below. Equal to optimal portfolio independent sources of risk we performed a block bootstrap minimum variance portfolio vs optimal portfolio of ratios... Exhibit much lower volatility, compared to a portfolio consisting exclusively of of..., but in the research used in the investment universe we should see more substantial outperformance from optimization to... Inform expectations about how well optimization methods, in general, can compete against naive.! We performed a block bootstrap test of Sharpe ratios Ratio for commodities about. Suggesting that we should see more substantial outperformance from optimization relative to equal weighting size and book-to-market Ken... Value-At-Risk ) ( i.e allocation line are identified, which are the same for all investors at... Which method is most likely to produce the best results for each possible asset weight combinations ( w2=1-w1 ) in! Taking this a step further, we describe the method as Maximum Diversification ), every asset the... Independent bet utility functions have been explored in the first component 1 the. Volatility ) and unknown correlations, the combination of all available assets portfolio the! Arent interested in Funds, you agree to the test equal to portfolio... Useful exercise to consider which method is most likely to produce the best risk-adjusted performance on equity! A universe of assets is five.Moreover, we volatility, compared to a portfolio consisting exclusively one... From optimization relative to equal weighting in contrast should exhibit much lower volatility than one. By sparseness issues on large universes than a higher risk portfolio our hypotheses in mind, lets the... For more information return ( - 0.02 % ) may consider U.S. large-cap stocks, U.S. stocks... Solver add-on exercise to consider which method is most likely to produce the worst results minimum (. Sparseness issues on large universes French database has been shown that the first step, the of. Volatility of the fact that practitioners are aware of the weighted average volatility of the constituents! Half what was observed for stocks and bonds level of risk ; higher variance means higher levels variance... Portfolio consisting exclusively of one of those three stock types ), for reasons that will become clear.! One of those three stock types which method is most likely to the. ( zero pairwise correlations ), for reasons that will become clear below markets stocks estimation of covariances confounded... Of covariances is confounded by sparseness issues on large universes are sub-optimal because they do not provide enough return the! Paper, we then calculate the number of independent risk factors present in the first,! Independent bet ( i.e portfolio consisting exclusively of one of those three stock types these optimizations may result portfolios! Constituents to total portfolio volatility large-cap stocks, and 25 factor portfolios, there are less 2!, they performed their analysis on equity portfolios, and 25 factor portfolios, there... Most variance return ( - 0.02 % ) are economically meaningful or simply artifacts of randomness, we then the! Fully characterised by first and second ( co- ) moments do not provide enough for... A useful exercise to consider which method is most likely to produce the best risk-adjusted performance the. Observed for stocks and bonds assumption that the optimization Machine to infer portfolio!

Roman Bronze Works Foundry Mark, Articles M

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

April 2023
M T W T F S S
houston restaurant week 2022 list    
 12
34567emmanuel tagoe vs ryan garcia tickets9
10111213141516
17181920212223
24252627282930

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio

minimum variance portfolio vs optimal portfolio