For the challenging task of modeling multivariate time series, we propose a new class of models that use dependent Matérn processes to capture the underlying structure of data, explain their interdependencies, and predict their unknown values. Although similar models have been proposed in the econometric, statistics, and machine learning literature, our approach has several advantages that distinguish it from existing methods: 1) it is flexible to provide high prediction accuracy, yet its complexity is controlled to avoid overfitting; 2) its interpretability separates it from black-box methods; 3) finally, its computational efficiency makes it scalable for high-dimensional time series. In this paper, we use several simulated and real data sets to illustrate these advantages. We will also briefly discuss some extensions of our model.
This paper deals with inference and prediction for multiple correlated time series, where one has also the choice of using a candidate pool of contemporaneous predictors for each target series. Starting with a structural model for the time-series, Bayesian tools are used for model fitting, prediction, and feature selection, thus extending some recent work along these lines for the univariate case. The Bayesian paradigm in this multivariate setting helps the model avoid overfitting as well as capture correlations among the multiple time series with the various state components. The model provid…
We present an efficient alternating direction method of multipliers (ADMM) algorithm for segmenting a multivariate non-stationary time series with structural breaks into stationary regions. We draw from recent work where the series is assumed to follow a vector autoregressive model within segments and a convex estimation procedure may be formulated using group fused lasso penalties. Our ADMM approach first splits the convex problem into a global quadratic program and a simple group lasso proximal update. We show that the global problem may be parallelized over rows of the time dependent transi…
Hellebore Capital Management（Hellebore资本管理公司）；Ecole Polytechnique（巴黎综合理工学院）
This paper presents a new methodology for clustering multivariate time series leveraging optimal transport between copulas. Copulas are used to encode both (i) intra-dependence of a multivariate time series, and (ii) inter-dependence between two time series. Then, optimal copula transport allows us to define two distances between multivariate time series: (i) one for measuring intra-dependence dissimilarity, (ii) another one for measuring inter-dependence dissimilarity based on a new multivariate dependence coefficient which is robust to noise, deterministic, and which can target specified dep…
We present a methodology for clustering N objects which are described by multivariate time series, i.e. several sequences of real-valued random variables. This clustering methodology leverages copulas which are distributions encoding the dependence structure between several random variables. To take fully into account the dependence information while clustering, we need a distance between copulas. In this work, we compare renowned distances between distributions: the Fisher-Rao geodesic distance, related divergences and optimal transport, and discuss their advantages and disadvantages. Applica…
Xsensor Technology Corp（Xsensor科技公司）；University of Alberta（阿尔伯塔大学）
Multivariate time series classification is a high value and well-known problem in machine learning community. Feature extraction is a main step in classification tasks. Traditional approaches employ hand-crafted features for classification while convolutional neural networks (CNN) are able to extract features automatically. In this paper, we use dilated convolutional neural network for multivariate time series classification. To deploy dilated CNN, a multivariate time series is transformed into an image-like style and stacks of dilated and strided convolutions are applied to extract in and bet…
Over the past decade, multivariate time series classification has received great attention. We propose transforming the existing univariate time series classification models, the Long Short Term Memory Fully Convolutional Network (LSTM-FCN) and Attention LSTM-FCN (ALSTM-FCN), into a multivariate time series classification model by augmenting the fully convolutional block with a squeeze-and-excitation block to further improve accuracy. Our proposed models outperform most state-of-the-art models while requiring minimum preprocessing. The proposed models work efficiently on various complex multiv…
A real-world dataset is provided from a pulp-and-paper manufacturing industry. The dataset comes from a multivariate time series process. The data contains a rare event of paper break that commonly occurs in the industry. The data contains sensor readings at regular time-intervals (x's) and the event label (y). The primary purpose of the data is thought to be building a classification model for early prediction of the rare event. However, it can also be used for multivariate time series data exploration and building other supervised and unsupervised models.
We introduce supervised feature ranking and feature subset selection algorithms for multivariate time series (MTS) classification. Unlike most existing supervised/unsupervised feature selection algorithms for MTS our techniques do not require a feature extraction step to generate a one-dimensional feature vector from the time series. Instead it is based on directly computing similarity between individual time series and assessing how well the resulting cluster structure matches the labels. The techniques are amenable to heterogeneous MTS data, where the time series measurements may have differ…
This paper contributes multivariate versions of seven commonly used elastic similarity and distance measures for time series data analytics. Elastic similarity and distance measures are a class of similarity measures that can compensate for misalignments in the time axis of time series data. We adapt two existing strategies used in a multivariate version of the well-known Dynamic Time Warping (DTW), namely, Independent and Dependent DTW, to these seven measures. While these measures can be applied to various time series analysis tasks, we demonstrate their utility on multivariate time series c…
Time Series forecasting (univariate and multivariate) is a problem of high complexity due the different patterns that have to be detected in the input, ranging from high to low frequencies ones. In this paper we propose a new model for timeseries prediction that utilizes convolutional layers for feature extraction, a recurrent encoder and a linear autoregressive component. We motivate the model and we test and compare it against a baseline of widely used existing architectures for univariate and multivariate timeseries. The proposed model appears to outperform the baselines in almost every cas…
Anomaly detection on multivariate time-series is of great importance in both data mining research and industrial applications. Recent approaches have achieved significant progress in this topic, but there is remaining limitations. One major limitation is that they do not capture the relationships between different time-series explicitly, resulting in inevitable false alarms. In this paper, we propose a novel self-supervised framework for multivariate time-series anomaly detection to address this issue. Our framework considers each univariate time-series as an individual feature and includes tw…
Multivariate time series prediction has applications in a wide variety of domains and is considered to be a very challenging task, especially when the variables have correlations and exhibit complex temporal patterns, such as seasonality and trend. Many existing methods suffer from strong statistical assumptions, numerical issues with high dimensionality, manual feature engineering efforts, and scalability. In this work, we present a novel deep learning architecture, known as Temporal Tensor Transformation Network, which transforms the original multivariate time series into a higher order of t…
Time series forecasting is often fundamental to scientific and engineering problems and enables decision making. With ever increasing data set sizes, a trivial solution to scale up predictions is to assume independence between interacting time series. However, modeling statistical dependencies can improve accuracy and enable analysis of interaction effects. Deep learning methods are well suited for this problem, but multivariate models often assume a simple parametric distribution and do not scale to high dimensions. In this work we model the multivariate temporal dynamics of time series via a…
Multivariate time series classification is a task with increasing importance due to the proliferation of new problems in various fields (economy, health, energy, transport, crops, etc.) where a large number of information sources are available. Direct extrapolation of methods that traditionally worked in univariate environments cannot frequently be applied to obtain the best results in multivariate problems. This is mainly due to the inability of these methods to capture the relationships between the different variables that conform a multivariate time series. The multivariate proposals publis…
Multivariate time series prediction has attracted a lot of attention because of its wide applications such as intelligence transportation, AIOps. Generative models have achieved impressive results in time series modeling because they can model data distribution and take noise into consideration. However, many existing works can not be widely used because of the constraints of functional form of generative models or the sensitivity to hyperparameters. In this paper, we propose ScoreGrad, a multivariate probabilistic time series forecasting framework based on continuous energy-based generative m…
UiT The Arctic University of Norway（挪威北极大学）；Universidad Rey Juan Carlos（胡安卡洛斯国王大学）
Similarity-based approaches represent a promising direction for time series analysis. However, many such methods rely on parameter tuning, and some have shortcomings if the time series are multivariate (MTS), due to dependencies between attributes, or the time series contain missing data. In this paper, we address these challenges within the powerful context of kernel methods by proposing the robust \emph{time series cluster kernel} (TCK). The approach taken leverages the missing data handling properties of Gaussian mixture models (GMM) augmented with informative prior distributions. An ensemb…
University of Technology Sydney（悉尼科技大学）；Monash University（莫纳什大学）
Modeling multivariate time series has long been a subject that has attracted researchers from a diverse range of fields including economics, finance, and traffic. A basic assumption behind multivariate time series forecasting is that its variables depend on one another but, upon looking closely, it is fair to say that existing methods fail to fully exploit latent spatial dependencies between pairs of variables. In recent years, meanwhile, graph neural networks (GNNs) have shown high capability in handling relational dependencies. GNNs require well-defined graph structures for information propa…
Granger causal modeling is an emerging topic that can uncover Granger causal relationship behind multivariate time series data. In many real-world systems, it is common to encounter a large amount of multivariate time series data collected from different individuals with sharing commonalities. However, there are ongoing concerns regarding Granger causality's applicability in such large scale complex scenarios, presenting both challenges and opportunities for Granger causal structure reconstruction. Existing methods usually train a distinct model for each individual, suffering from inefficiency…
INSEAD（欧洲工商管理学院）；University College London（伦敦大学学院）；The Alan Turing Institute（艾伦·图灵研究所）
Time series are an interesting frontier for kernel-based methods, for the simple reason that there is no kernel designed to represent them and their unique characteristics in full generality. Existing sequential kernels ignore the time indices, with many assuming that the series must be regularly-spaced; some such kernels are not even psd. In this manuscript, we show that a "series kernel" that is general enough to represent irregularly-spaced multivariate time series may be built out of well-known "vector kernels". We also show that all series kernels constructed using our methodology are psd…
Yahoo Research（雅虎研究院）；University of Southern California（南加州大学）
Multivariate time series are routinely encountered in real-world applications, and in many cases, these time series are strongly correlated. In this paper, we present a deep learning structural time series model which can (i) handle correlated multivariate time series input, and (ii) forecast the targeted temporal sequence by explicitly learning/extracting the trend, seasonality, and event components. The trend is learned via a 1D and 2D temporal CNN and LSTM hierarchical neural net. The CNN-LSTM architecture can (i) seamlessly leverage the dependency among multiple correlated time series in a…
We first pursue the study of how hierarchy provides a well-adapted tool for the analysis of change. Then, using a time sequence-constrained hierarchical clustering, we develop the practical aspects of a new approach to wavelet regression. This provides a new way to link hierarchical relationships in a multivariate time series data set with external signals. Violence data from the Colombian conflict in the years 1990 to 2004 is used throughout. We conclude with some proposals for further study on the relationship between social violence and market forces, viz. between the Colombian conflict and…
An advanced conceptual validation framework for multimodal multivariate time series defines a multi-level contextual anomaly detection ranging from an univariate context definition, to a multimodal abstract context representation learnt by an Autoencoder from heterogeneous data (images, time series, sounds, etc.) associated to an industrial process. Each level of the framework is either applicable to historical data and/or live data. The ultimate level is based on causal discovery to identify causal relations in observational data in order to exclude biased data to train machine learning model…
University of Minnesota, Twin Cities（明尼苏达大学双城分校）；IBM Research, T. J. Watson Research Center（IBM研究院托马斯·J·沃森研究中心）
Multivariate time-series modeling and forecasting is an important problem with numerous applications. Traditional approaches such as VAR (vector auto-regressive) models and more recent approaches such as RNNs (recurrent neural networks) are indispensable tools in modeling time-series data. In many multivariate time series modeling problems, there is usually a significant linear dependency component, for which VARs are suitable, and a nonlinear component, for which RNNs are suitable. Modeling such times series with only VAR or only RNNs can lead to poor predictive performance or complex models …
University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；IBM Almaden Research Center（IBM阿尔马登研究中心）
Sparse and irregularly sampled multivariate time series are common in clinical, climate, financial and many other domains. Most recent approaches focus on classification, regression or forecasting tasks on such data. In forecasting, it is necessary to not only forecast the right value but also to forecast when that value will occur in the irregular time series. In this work, we present an approach to forecast not only the values but also the time at which they are expected to occur.
Classification models for the multivariate time series have gained significant importance in the research community, but not much research has been done on generating adversarial samples for these models. Such samples of adversaries could become a security concern. In this paper, we propose transforming the existing adversarial transformation network (ATN) on a distilled model to attack various multivariate time series classification models. The proposed attack on the classification model utilizes a distilled model as a surrogate that mimics the behavior of the attacked classical multivariate …
Our research aims to propose a new performance-explainability analytical framework to assess and benchmark machine learning methods. The framework details a set of characteristics that systematize the performance-explainability assessment of existing machine learning methods. In order to illustrate the use of the framework, we apply it to benchmark the current state-of-the-art multivariate time series classifiers.
Time series constitute a challenging data type for machine learning algorithms, due to their highly variable lengths and sparse labeling in practice. In this paper, we tackle this challenge by proposing an unsupervised method to learn universal embeddings of time series. Unlike previous works, it is scalable with respect to their length and we demonstrate the quality, transferability and practicability of the learned representations with thorough experiments and comparisons. To this end, we combine an encoder based on causal dilated convolutions with a novel triplet loss employing time-based n…
We review autoregressive models for the analysis of multivariate count time series. In doing so, we discuss the choice of a suitable distribution for a vectors of count random variables. This review focus on three main approaches taken for multivariate count time series analysis: (a) integer autoregressive processes, (b) parameter-driven models and (c) observation-driven models. The aim of this work is to highlight some recent methodological developments and propose some potentially useful research topics.
Information Technologies Institute, Centre of Research and Technology Hellas（希腊研究与技术中心信息技术研究所）
Multivariate time series forecasting is of great importance to many scientific disciplines and industrial sectors. The evolution of a multivariate time series depends on the dynamics of its variables and the connectivity network of causal interrelationships among them. Most of the existing time series models do not account for the causal effects among the system's variables and even if they do they rely just on determining the between-variables causality network. Knowing the structure of such a complex network and even more specifically knowing the exact lagged variables that contribute to the…
Linear Dynamical System (LDS) is an elegant mathematical framework for modeling and learning multivariate time series. However, in general, it is difficult to set the dimension of its hidden state space. A small number of hidden states may not be able to model the complexities of a time series, while a large number of hidden states can lead to overfitting. In this paper, we study methods that impose an $\ell_1$ regularization on the transition matrix of an LDS model to alleviate the problem of choosing the optimal number of hidden states. We incorporate a generalized gradient descent method in…
Boston University（波士顿大学）；Sandia National Laboratories（桑迪亚国家实验室）
Applying machine learning (ML) on multivariate time series data has growing popularity in many application domains, including in computer system management. For example, recent high performance computing (HPC) research proposes a variety of ML frameworks that use system telemetry data in the form of multivariate time series so as to detect performance variations, perform intelligent scheduling or node allocation, and improve system security. Common barriers for adoption for these ML frameworks include the lack of user trust and the difficulty of debugging. These barriers need to be overcome to…
We report on the results of two new approaches to considering how many principal components to retain from an analysis of a multivariate time series. The first is by using a "heat map" based approach. A heat map in this context refers to a series of principal component coefficients created by applying a sliding window to a multivariate time series. Furthermore the heat maps can provide detailed insights into the evolution of the structure of each principal component over time. The second is by examining the change of the angle of the principal component over time within the high-dimensional da…
Generative moment matching networks (GMMNs) are introduced as dependence models for the joint innovation distribution of multivariate time series (MTS). Following the popular copula-GARCH approach for modeling dependent MTS data, a framework based on a GMMN-GARCH approach is presented. First, ARMA-GARCH models are utilized to capture the serial dependence within each univariate marginal time series. Second, if the number of marginal time series is large, principal component analysis (PCA) is used as a dimension-reduction step. Last, the remaining cross-sectional dependence is modeled via a GMM…
Matrix factorization is a powerful data analysis tool. It has been used in multivariate time series analysis, leading to the decomposition of the series in a small set of latent factors. However, little is known on the statistical performances of matrix factorization for time series. In this paper, we extend the results known for matrix estimation in the i.i.d setting to time series. Moreover, we prove that when the series exhibit some additional structure like periodicity or smoothness, it is possible to improve on the classical rates of convergence.
A multivariate, stationary time series is said to be jointly regularly varying if all its finite-dimensional distributions are multivariate regularly varying. This property is shown to be equivalent to weak convergence of the conditional distribution of the rescaled series given that, at a fixed time instant, its distance to the origin exceeds a threshold tending to infinity. The limit object, called the tail process, admits a decomposition in independent radial and angular components. Under an appropriate mixing condition, this tail process allows for a concise and explicit description of the…
University of Oxford（牛津大学）；The Alan Turing Institute（艾伦·图灵研究所）
In multivariate time series systems, it has been observed that certain groups of variables partially lead the evolution of the system, while other variables follow this evolution with a time delay; the result is a lead-lag structure amongst the time series variables. In this paper, we propose a method for the detection of lead-lag clusters of time series in multivariate systems. We demonstrate that the web of pairwise lead-lag relationships between time series can be helpfully construed as a directed network, for which there exist suitable algorithms for the detection of pairs of lead-lag clus…
This paper introduces multivariate Poisson autoregressive models with exogenous covariates (PoARX) for modelling multivariate time series of counts. We obtain conditions for the PoARX process to be stationary and ergodic before proposing a computationally efficient procedure for estimation of parameters by the method of inference functions (IFM) and obtaining asymptotic normality of these estimators. Lastly, we demonstrate an application to count data for the number of people entering and exiting a building, and show how the different aspects of the model combine to produce a strong predictive…
I overview recent research advances in Bayesian state-space modeling of multivariate time series. A main focus is on the decouple/recouple concept that enables application of state-space models to increasingly large-scale data, applying to continuous or discrete time series outcomes. The scope includes large-scale dynamic graphical models for forecasting and multivariate volatility analysis in areas such as economics and finance, multi-scale approaches for forecasting discrete/count time series in areas such as commercial sales and demand forecasting, and dynamic network flow models for areas …
We introduce graphical time series models for the analysis of dynamic relationships among variables in multivariate time series. The modelling approach is based on the notion of strong Granger causality and can be applied to time series with non-linear dependencies. The models are derived from ordinary time series models by imposing constraints that are encoded by mixed graphs. In these graphs each component series is represented by a single vertex and directed edges indicate possible Granger-causal relationships between variables while undirected edges are used to map the contemporaneous depe…
In Das and Politis(2020), a model-free bootstrap(MFB) paradigm was proposed for generating prediction intervals of univariate, (locally) stationary time series. Theoretical guarantees for this algorithm was resolved in Wang and Politis(2019) under stationarity and weak dependence condition. Following this line of work, here we extend MFB for predictive inference under a multivariate time series setup. We describe two algorithms, the first one works for a particular class of time series under any fixed dimension d; the second one works for a more generalized class of time series under low-dimen…
The multivariate Bayesian structural time series (MBSTS) model is a general machine learning model that deals with inference and prediction for multiple correlated time series, where one also has the choice of using a different candidate pool of contemporaneous predictors for each target series. The MBSTS model has wide applications and is ideal for feature selection, time series forecasting, nowcasting, inferring causal impact, and others. This paper demonstrates how to use the R package mbsts for MBSTS modeling, establishing a bridge between user-friendly and developer-friendly functions in …
This paper proposes some novel one-sided omnibus tests for independence between two multivariate stationary time series. These new tests apply the Hilbert-Schmidt independence criterion (HSIC) to test the independence between the innovations of both time series. Under regular conditions, the limiting null distributions of our HSIC-based tests are established. Next, our HSIC-based tests are shown to be consistent. Moreover, a residual bootstrap method is used to obtain the critical values for our HSIC-based tests, and its validity is justified. Compared with the existing cross-correlation-based…
Analysis of multivariate time series is a common problem in areas like finance and economics. The classical tool for this purpose are vector autoregressive models. These however are limited to the modeling of linear and symmetric dependence. We propose a novel copula-based model which allows for non-linear and asymmetric modeling of serial as well as between-series dependencies. The model exploits the flexibility of vine copulas which are built up by bivariate copulas only. We describe statistical inference techniques for the new model and demonstrate its usefulness in three relevant applicati…
The package provides multivariate time series models for structural analysis, allowing one to extract latent signals such as trends or seasonality. Models are fitted using maximum likelihood estimation, allowing for non-stationarity, fixed regression effects, and ragged-edge missing values. Simple types of extreme values can be corrected using the device of entropy maximization. Model adequacy is assessed through residual diagnostics, and model-based signal extraction filters can be assessed in time domain and frequency domain. Extracted signals are produced with uncertainty measures that acco…
We present an interactive probing tool to create, modify and analyze what-if scenarios for multivariate time series models. The solution is applied to freight trading, where analysts can carry out sensitivity analysis on freight rates by changing demand and supply-related econometric variables and observing their resultant effects on freight indexes. We utilize various visualization techniques to enable intuitive scenario creation, alteration, and comprehension of time series inputs and model predictions. Our tool proved to be useful to the industry practitioners, demonstrated by a case study …
Davis and Mikosch [7] introduced the extremogram as a flexible quantitative tool for measuring various types of extremal dependence in a stationary time series. There we showed some standard statistical properties of the sample extremogram. A major difficulty was the construction of credible confidence bands for the extremogram. In this paper, we employ the stationary bootstrap to overcome this problem. Moreover, we introduce the cross extremogram as a measure of extremal serial dependence between two or more time series. We also study the extremogram for return times between extremal events. …
This paper proposes a novel multivariate time series model named Copula-linked univariate D-vines (CuDvine), which enables the simultaneous copula-based modeling of both temporal and cross-sectional dependence for multivariate time series. To construct CuDvine, we first build a semiparametric univariate D-vine time series model (uDvine) based on a D-vine. The uDvine generalizes the existing first-order copula-based Markov chain models to Markov chains of an arbitrary-order. Building upon uDvine, we construct CuDvine by linking multiple uDvines via a parametric copula. As a simple and tractable…
The concept of Granger causality is increasingly being applied for the characterization of directional interactions in different applications. A multivariate framework for estimating Granger causality is essential in order to account for all the available information from multivariate time series. However, the inclusion of non-informative or non-significant variables creates estimation problems related to the 'curse of dimensionality'. To deal with this issue, direct causality measures using variable selection and dimension reduction techniques have been introduced. In this comparative work, t…
Graphical interaction models have become an important tool for analysing multivariate time series. In these models, the interrelationships among the components of a time series are described by undirected graphs in which the vertices depict the components while the edges indictate possible dependencies between the components. Current methods for the identification of the graphical structure are based on nonparametric spectral stimation, which prevents application of common model selection strategies. In this paper, we present a parametric approach for graphical interaction modelling of multiva…
Granger causality and variants of this concept allow the study of complex dynamical systems as networks constructed from multivariate time series. In this work, a large number of Granger causality measures used to form causality networks from multivariate time series are assessed. These measures are in the time domain, such as model-based and information measures, the frequency domain and the phase domain. The study aims also to compare bivariate and multivariate measures, linear and nonlinear measures, as well as the use of dimension reduction in linear model-based measures and information me…
For multivariate stationary time series many important properties, such as partial correlation, graphical models and autoregressive representations are encoded in the inverse of its spectral density matrix. This is not true for nonstationary time series, where the pertinent information lies in the inverse infinite dimensional covariance matrix operator associated with the multivariate time series. This necessitates the study of the covariance of a multivariate nonstationary time series and its relationship to its inverse. We show that if the rows/columns of the infinite dimensional covariance …
