This paper presents the first time series clustering benchmark utilizing all time series datasets currently available in the University of California Riverside (UCR) archive -- the state of the art repository of time series data. Specifically, the benchmark examines eight popular clustering methods representing three categories of clustering algorithms (partitional, hierarchical and density-based) and three types of distance measures (Euclidean, dynamic time warping, and shape-based). We lay out six restrictions with special attention to making the benchmark as unbiased as possible. A phased evaluation approach was then designed for summarizing dataset-level assessment metrics and discussing the results. The benchmark study presented can be a useful reference for the research community on its own; and the dataset-level assessment metrics reported may be used for designing evaluation frameworks to answer different research questions.
The task of clustering unlabeled time series and sequences entails a particular set of challenges, namely to adequately model temporal relations and variable sequence lengths. If these challenges are not properly handled, the resulting clusters might be of suboptimal quality. As a key solution, we present a joint clustering and feature learning framework for time series based on deep learning. For a given set of time series, we train a recurrent network to represent, or embed, each time series in a vector space such that a divergence-based clustering loss function can discover the underlying c…
Time series forecasting has gained lots of attention recently; this is because many real-world phenomena can be modeled as time series. The massive volume of data and recent advancements in the processing power of the computers enable researchers to develop more sophisticated machine learning algorithms such as neural networks to forecast the time series data. In this paper, we propose various neural network architectures to forecast the time series data using the dynamic measurements; moreover, we introduce various architectures on how to combine static and dynamic measurements for forecastin…
Time series clustering is a challenging task due to the specific nature of the data. Classical approaches do not perform well and need to be adapted either through a new distance measure or a data transformation. In this paper we investigate the combination of a convolutional autoencoder and a k-medoids algorithm to perfom time series clustering. The convolutional autoencoder allows to extract meaningful features and reduce the dimension of the data, leading to an improvement of the subsequent clustering. Using simulation and energy related data to validate the approach, experimental results s…
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…
Fuzzy clustering of ordinal time series based on two novel distances with economic applications
Research Center for Information and Communication Technologies (CITIC)（信息与通信技术研究中心（CITIC））；University of A Coruña（拉科鲁尼亚大学）；Helmut Schmidt University（赫尔穆特·施密特大学）
Unsupervised clustering of temporal data is both challenging and crucial in machine learning. In this paper, we show that neither traditional clustering methods, time series specific or even deep learning-based alternatives generalise well when both varying sampling rates and high dimensionality are present in the input data. We propose a novel approach to temporal clustering, in which we (1) transform the input time series into a distance-based projected representation by using similarity measures suitable for dealing with temporal data,(2) feed these projections into a multi-layer CNN-GRU au…
Ranked differences Pearson correlation dissimilarity with an application to electricity users time series clustering
Statistics, Probability, and Data Science with R programming (SPDR) research group（统计、概率与数据科学（SPDR）研究组）；Department of Mathematics, King Mongkut’s University of Technology Thonburi（泰国科技理工大学数学系）
This paper presents a novel time series clustering method, the self-organising eigenspace map (SOEM), based on a generalisation of the well-known self-organising feature map (SOFM). The SOEM operates on the eigenspaces of the embedded covariance structures of time series which are related directly to modes in those time series. Approximate joint diagonalisation acts as a pseudo-metric across these spaces allowing us to generalise the SOFM to a neural network with matrix input. The technique is empirically validated against three sets of experiments; univariate and multivariate time series clus…
Southern Methodist University（南卫理公会大学）；Amirkabir University of Technology（阿米尔卡比尔理工大学）
Recently there has been an increase in the studies on time-series data mining specifically time-series clustering due to the vast existence of time-series in various domains. The large volume of data in the form of time-series makes it necessary to employ various techniques such as clustering to understand the data and to extract information and hidden patterns. In the field of clustering specifically, time-series clustering, the most important aspects are the similarity measure used and the algorithm employed to conduct the clustering. In this paper, a new similarity measure for time-series c…
Clustering is ubiquitous in data analysis, including analysis of time series. It is inherently subjective: different users may prefer different clusterings for a particular dataset. Semi-supervised clustering addresses this by allowing the user to provide examples of instances that should (not) be in the same cluster. This paper studies semi-supervised clustering in the context of time series. We show that COBRAS, a state-of-the-art semi-supervised clustering method, can be adapted to this setting. We refer to this approach as COBRAS-TS. An extensive experimental evaluation supports the follow…
Generating interpretable visualizations from complex data is a common problem in many applications. Two key ingredients for tackling this issue are clustering and representation learning. However, current methods do not yet successfully combine the strengths of these two approaches. Existing representation learning models which rely on latent topological structure such as self-organising maps, exhibit markedly lower clustering performance compared to recent deep clustering methods. To close this performance gap, we (a) present a novel way to fit self-organizing maps with probabilistic cluster …
This paper advocates Riemannian multi-manifold modeling in the context of network-wide non-stationary time-series analysis. Time-series data, collected sequentially over time and across a network, yield features which are viewed as points in or close to a union of multiple submanifolds of a Riemannian manifold, and distinguishing disparate time series amounts to clustering multiple Riemannian submanifolds. To support the claim that exploiting the latent Riemannian geometry behind many statistical features of time series is beneficial to learning from network data, this paper focuses on brain n…
The classification of time series data is a challenge common to all data-driven fields. However, there is no agreement about which are the most efficient techniques to group unlabeled time-ordered data. This is because a successful classification of time series patterns depends on the goal and the domain of interest, i.e. it is application-dependent. In this article, we study free-to-play game data. In this domain, clustering similar time series information is increasingly important due to the large amount of data collected by current mobile and web applications. We evaluate which methods clus…
Georgia Institute of Technology（佐治亚理工学院）；Texas Tech University（得克萨斯理工大学）；University of Debrecen（德布勒森大学）
Machine learning and in particular deep learning algorithms are the emerging approaches to data analysis. These techniques have transformed traditional data mining-based analysis radically into a learning-based model in which existing data sets along with their cluster labels (i.e., train set) are learned to build a supervised learning model and predict the cluster labels of unseen data (i.e., test set). In particular, deep learning techniques are capable of capturing and learning hidden features in a given data sets and thus building a more accurate prediction model for clustering and labelin…
Massachusetts Institute of Technology（麻省理工学院）；University of Toronto（多伦多大学）；Microsoft Research New England（微软新英格兰研究院）
Unsupervised learning is often used to uncover clusters in data. However, different kinds of noise may impede the discovery of useful patterns from real-world time-series data. In this work, we focus on mitigating the interference of interval censoring in the task of clustering for disease phenotyping. We develop a deep generative, continuous-time model of time-series data that clusters time-series while correcting for censorship time. We provide conditions under which clusters and the amount of delayed entry may be identified from data under a noiseless model. On synthetic data, we demonstrat…
Paris Nord University（巴黎第十三大学）；IFSTTAR（法国交通与安全科学技术研究所）；Heudiasyc Lab（Heudiasyc实验室）
This paper introduces a novel model-based clustering approach for clustering time series which present changes in regime. It consists of a mixture of polynomial regressions governed by hidden Markov chains. The underlying hidden process for each cluster activates successively several polynomial regimes during time. The parameter estimation is performed by the maximum likelihood method through a dedicated Expectation-Maximization (EM) algorithm. The proposed approach is evaluated using simulated time series and real-world time series issued from a railway diagnosis application. Comparisons with…
Institute of Mathematics and Computer Science, University of São Paulo（圣保罗大学数学与计算机科学学院）；Department of Computing and Mathematics, University of São Paulo（圣保罗大学计算与数学系）
In this paper, we propose a technique for time series clustering using community detection in complex networks. Firstly, we present a method to transform a set of time series into a network using different distance functions, where each time series is represented by a vertex and the most similar ones are connected. Then, we apply community detection algorithms to identify groups of strongly connected vertices (called a community) and, consequently, identify time series clusters. Still in this paper, we make a comprehensive analysis on the influence of various combinations of time series distan…
The overwhelming presence of categorical/sequential data in diverse domains emphasizes the importance of sequence mining. The challenging nature of sequences proves the need for continuing research to find a more accurate and faster approach providing a better understanding of their (dis)similarities. This paper proposes a new Model-based approach for clustering sequence data, namely nTreeClus. The proposed method deploys Tree-based Learners, k-mers, and autoregressive models for categorical time series, culminating with a novel numerical representation of the categorical sequences. Adopting t…
CITEC cluster of excellence（CITEC卓越集群）；Bielefeld University（比勒费尔德大学）
There exist many approaches for description and recognition of unseen classes in datasets. Nevertheless, it becomes a challenging problem when we deal with multivariate time-series (MTS) (e.g., motion data), where we cannot apply the vectorial algorithms directly to the inputs. In this work, we propose a novel multiple-kernel dictionary learning (MKD) which learns semantic attributes based on specific combinations of MTS dimensions in the feature space. Hence, MKD can fully/partially reconstructs the unseen classes based on the training data (seen classes). Furthermore, we obtain sparse encodi…
Hydrological storm events are a primary driver for transporting water quality constituents such as turbidity, suspended sediments and nutrients. Analyzing the concentration (C) of these water quality constituents in response to increased streamflow discharge (Q), particularly when monitored at high temporal resolution during a hydrological event, helps to characterize the dynamics and flux of such constituents. A conventional approach to storm event analysis is to reduce the C-Q time series to two-dimensional (2-D) hysteresis loops and analyze these 2-D patterns. While effective and informativ…
CSTS: A Benchmark for the Discovery of Correlation Structures in Time Series Clustering
School of Computer Science, University of Bristol（计算机科学学院，布里斯托大学）；School of Engineering Mathematics and Technology, University of Bristol（工程数学与技术学院，布里斯托大学）；School of Artificial Intelligence, University of Nanjing（人工智能学院，南京大学）；College of Engineering and Architecture, University College Dublin（工程与建筑学院，都柏林大学学院）
Time series clustering based on prediction accuracy of global forecasting models
Research Center for Information and Communication Technologies (CITIC)（信息与通信技术研究中心（CITIC））；University of A Coruña（拉科鲁尼亚大学）；The University of Sydney Business School（悉尼大学商学院）
Clustering of time series data exhibits a number of challenges not present in other settings, notably the problem of registration (alignment) of observed signals. Typical approaches include pre-registration to a user-specified template or time warping approaches which attempt to optimally align series with a minimum of distortion. For many signals obtained from recording or sensing devices, these methods may be unsuitable as a template signal is not available for pre-registration, while the distortion of warping approaches may obscure meaningful temporal information. We propose a new method fo…
University of California, Berkeley（加利福尼亚大学伯克利分校）；Amazon（亚马逊）
Linear dynamical systems are a fundamental and powerful parametric model class. However, identifying the parameters of a linear dynamical system is a venerable task, permitting provably efficient solutions only in special cases. This work shows that the eigenspectrum of unknown linear dynamics can be identified without full system identification. We analyze a computationally efficient and provably convergent algorithm to estimate the eigenvalues of the state-transition matrix in a linear dynamical system. When applied to time series clustering, our algorithm can efficiently cluster multi-dimen…
Sleep apnea is a disorder that has serious consequences for the pediatric population. There has been recent concern that traditional diagnosis of the disorder using the apnea-hypopnea index may be ineffective in capturing its multi-faceted outcomes. In this work, we take a first step in addressing this issue by phenotyping patients using a clustering analysis of airflow time series. This is approached in three ways: using feature-based fuzzy clustering in the time and frequency domains, and using persistent homology to study the signal from a topological perspective. The fuzzy clusters are ana…
In this work a robust clustering algorithm for stationary time series is proposed. The algorithm is based on the use of estimated spectral densities, which are considered as functional data, as the basic characteristic of stationary time series for clustering purposes. A robust algorithm for functional data is then applied to the set of spectral densities. Trimming techniques and restrictions on the scatter within groups reduce the effect of noise in the data and help to prevent the identification of spurious clusters. The procedure is tested in a simulation study, and is also applied to a rea…
Electronic records contain sequences of events, some of which take place all at once in a single visit, and others that are dispersed over multiple visits, each with a different timestamp. We postulate that fine temporal detail, e.g., whether a series of blood tests are completed at once or in rapid succession should not alter predictions based on this data. Motivated by this intuition, we propose models for analyzing sequences of multivariate clinical time series data that are invariant to this temporal clustering. We propose an efficient data augmentation technique that exploits the postulat…
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…
University of Konstanz（康斯坦茨大学）；Univ. of Applied Sciences Wolfsburg（沃尔夫斯堡应用科学大学）
For time series comparisons, it has often been observed that z-score normalized Euclidean distances far outperform the unnormalized variant. In this paper we show that a z-score normalized, squared Euclidean Distance is, in fact, equal to a distance based on Pearson Correlation. This has profound impact on many distance-based classification or clustering methods. In addition to this theoretically sound result we also show that the often used k-Means algorithm formally needs a mod ification to keep the interpretation as Pearson correlation strictly valid. Experimental results demonstrate that i…
Over the last few years, traffic data has been exploding and the transportation discipline has entered the era of big data. It brings out new opportunities for doing data-driven analysis, but it also challenges traditional analytic methods. This paper proposes a new Divide and Combine based approach to do K means clustering on activity-travel behavior time series using features that are derived using tools in Time Series Analysis and Topological Data Analysis. Clustering data from five waves of the National Household Travel Survey ranging from 1990 to 2017 suggests that activity-travel pattern…
Investigations have been performed into using clustering methods in data mining time-series data from smart meters. The problem is to identify patterns and trends in energy usage profiles of commercial and industrial customers over 24-hour periods, and group similar profiles. We tested our method on energy usage data provided by several U.S. power utilities. The results show accurate grouping of accounts similar in their energy usage patterns, and potential for the method to be utilized in energy efficiency programs.
Instituto de Matemática Universidade Federal do Rio de Janeiro（里约热内卢联邦大学数学研究所）；Departamento de Métodos Estatísticos Universidade Federal do Rio de Janeiro（里约热内卢联邦大学统计方法系）
We propose a new method for clustering multivariate time-series data based on Dynamic Linear Models. Whereas usual time-series clustering methods obtain static membership parameters, our proposal allows each time-series to dynamically change their cluster memberships over time. In this context, a mixture model is assumed for the time series and a flexible Dirichlet evolution for mixture weights allows for smooth membership changes over time. Posterior estimates and predictions can be obtained through Gibbs sampling, but a more efficient method for obtaining point estimates is presented, based …
Researchers have used from 30 days to several years of daily returns as source data for clustering financial time series based on their correlations. This paper sets up a statistical framework to study the validity of such practices. We first show that clustering correlated random variables from their observed values is statistically consistent. Then, we also give a first empirical answer to the much debated question: How long should the time series be? If too short, the clusters found can be spurious; if too long, dynamics can be smoothed out.
Harvard University（哈佛大学）；ESSEC Business School（埃塞克高等商学院）；MIT, Picower Institute（麻省理工学院皮考尔研究所）；Salk Institute（索尔克研究所）
We propose a general statistical framework for clustering multiple time series that exhibit nonlinear dynamics into an a-priori-unknown number of sub-groups. Our motivation comes from neuroscience, where an important problem is to identify, within a large assembly of neurons, subsets that respond similarly to a stimulus or contingency. Upon modeling the multiple time series as the output of a Dirichlet process mixture of nonlinear state-space models, we derive a Metropolis-within-Gibbs algorithm for full Bayesian inference that alternates between sampling cluster assignments and sampling param…
In this paper, we propose a nonparametric approach that can be used in envelope extraction, peak-burst detection and clustering in time series. Our problem formalization results in a naturally defined splitting/forking of the time series. With a possibly hierarchical implementation, it can be used for various applications in machine learning, signal processing and mathematical finance. From an incoming input signal, our iterative procedure sequentially creates two signals (one upper bounding and one lower bounding signal) by minimizing the cumulative $L_1$ drift. We show that a solution can be…
Probabilistic Computing Project Massachusetts Institute of Technology（麻省理工学院概率计算项目）
This article proposes a Bayesian nonparametric method for forecasting, imputation, and clustering in sparsely observed, multivariate time series data. The method is appropriate for jointly modeling hundreds of time series with widely varying, non-stationary dynamics. Given a collection of $N$ time series, the Bayesian model first partitions them into independent clusters using a Chinese restaurant process prior. Within a cluster, all time series are modeled jointly using a novel "temporally-reweighted" extension of the Chinese restaurant process mixture. Markov chain Monte Carlo techniques are…
Shiga University（滋贺大学）；Osaka Gas Co., Ltd.（大阪燃气株式会社）
In this paper, we consider the task of clustering a set of individual time series while modeling each cluster, that is, model-based time series clustering. The task requires a parametric model with sufficient flexibility to describe the dynamics in various time series. To address this problem, we propose a novel model-based time series clustering method with mixtures of linear Gaussian state space models, which have high flexibility. The proposed method uses a new expectation-maximization algorithm for the mixture model to estimate the model parameters, and determines the number of clusters us…
There is a need for the development of models that are able to account for discreteness in data, along with its time series properties and correlation. Our focus falls on INteger-valued AutoRegressive (INAR) type models. The INAR type models can be used in conjunction with existing model-based clustering techniques to cluster discrete-valued time series data. With the use of a finite mixture model, several existing techniques such as the selection of the number of clusters, estimation using expectation-maximization and model selection are applicable. The proposed model is then demonstrated on …
A system identification approach to clustering vector autoregressive time series
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, China（华中科技大学人工智能与自动化学院）；School of Electrical Engineering and Telecommunications, UNSW Sydney, NSW, Australia（新南威尔士大学悉尼分校电子与电信工程学院）
University of A Coruña（拉科鲁尼亚大学）；Sapienza University of Rome（罗马第一大学）；Technological Institute for Industrial Mathematics (ITMATI)（工业数学技术研究所）
Three robust methods for clustering multivariate time series from the point of view of generating processes are proposed. The procedures are robust versions of a fuzzy C-means model based on: (i) estimates of the quantile cross-spectral density and (ii) the classical principal component analysis. Robustness to the presence of outliers is achieved by using the so-called metric, noise and trimmed approaches. The metric approach incorporates in the objective function a distance measure aimed at neutralizing the effect of the outliers, the noise approach builds an artificial cluster expected to co…
University of Sheffield（谢菲尔德大学）；University of Manchester（曼彻斯特大学）
In this publication, we combine two Bayesian non-parametric models: the Gaussian Process (GP) and the Dirichlet Process (DP). Our innovation in the GP model is to introduce a variation on the GP prior which enables us to model structured time-series data, i.e. data containing groups where we wish to model inter- and intra-group variability. Our innovation in the DP model is an implementation of a new fast collapsed variational inference procedure which enables us to optimize our variationala pproximation significantly faster than standard VB approaches. In a biological time series application …
This study aimed to find temporal clusters for several commodity prices using the threshold non-linear autoregressive model. It is expected that the process of determining the commodity groups that are time-dependent will advance the current knowledge about the dynamics of co-moving and coherent prices, and can serve as a basis for multivariate time series analyses. The clustering of commodity prices was examined using the proposed clustering approach based on time series models to incorporate the time varying properties of price series into the clustering scheme. Accordingly, the primary aim …
University of California, Los Angeles（加利福尼亚大学洛杉矶分校）；University of Cambridge（剑桥大学）；Alan Turing Institute（艾伦·图灵研究所）
Due to the wider availability of modern electronic health records, patient care data is often being stored in the form of time-series. Clustering such time-series data is crucial for patient phenotyping, anticipating patients' prognoses by identifying "similar" patients, and designing treatment guidelines that are tailored to homogeneous patient subgroups. In this paper, we develop a deep learning approach for clustering time-series data, where each cluster comprises patients who share similar future outcomes of interest (e.g., adverse events, the onset of comorbidities). To encourage each clu…
With the advent of Big Data, nowadays in many applications databases containing large quantities of similar time series are available. Forecasting time series in these domains with traditional univariate forecasting procedures leaves great potentials for producing accurate forecasts untapped. Recurrent neural networks (RNNs), and in particular Long Short-Term Memory (LSTM) networks, have proven recently that they are able to outperform state-of-the-art univariate time series forecasting methods in this context when trained across all available time series. However, if the time series database …
We present an approach to clustering time series data using a model-based generalization of the K-Means algorithm which we call K-Models. We prove the convergence of this general algorithm and relate it to the hard-EM algorithm for mixture modeling. We then apply our method first with an AR($p$) clustering example and show how the clustering algorithm can be made robust to outliers using a least-absolute deviations criteria. We then build our clustering algorithm up for ARMA($p,q$) models and extend this to ARIMA($p,d,q$) models. We develop a goodness of fit statistic for the models fitted to …
Monash University（莫纳什大学）；University of Melbourne（墨尔本大学）；Uber Technologies Inc（优步技术公司）
With large quantities of data typically available nowadays, forecasting models that are trained across sets of time series, known as Global Forecasting Models (GFM), are regularly outperforming traditional univariate forecasting models that work on isolated series. As GFMs usually share the same set of parameters across all time series, they often have the problem of not being localised enough to a particular series, especially in situations where datasets are heterogeneous. We study how ensembling techniques can be used with generic GFMs and univariate models to solve this issue. Our work sys…
In this paper we introduce a micro-clustering strategy for Functional Boxplots. The aim is to summarize a set of streaming time series splitted in non overlapping windows. It is a two step strategy which performs at first, an on-line summarization by means of functional data structures, named Functional Boxplot micro-clusters; then it reveals the final summarization by processing, off-line, the functional data structures. Our main contribute consists in providing a new definition of micro-cluster based on Functional Boxplots and, in defining a proximity measure which allows to compare and upda…
This note outlines a method for clustering time series based on a statistical model in which volatility shifts at unobserved change-points. The model accommodates some classical stylized features of returns and its relation to GARCH is discussed. Clustering is performed using a probability metric evaluated between posterior distributions of the most recent change-point associated with each series. This implies series are grouped together at a given time if there is evidence the most recent shifts in their respective volatilities were coincident or closely timed. The clustering method is dynami…
Graph clustering is widely used in analysis of biological networks, social networks and etc. For over a decade many graph clustering algorithms have been published, however a comprehensive and consistent performance comparison is not available. In this paper we benchmarked more than 70 graph clustering programs to evaluate their runtime and quality performance for both weighted and unweighted graphs. We also analyzed the characteristics of ground truth that affects the performance. Our work is capable to not only supply a start point for engineers to select clustering algorithms but also could…
Université de Technologie de Compiègne（贡比涅技术大学）；Institut Français des Sciences et Technologies des Transports, de l’Aménagement et des Réseaux（法国交通、规划与网络科学技术研究所）
Mixture model-based clustering, usually applied to multidimensional data, has become a popular approach in many data analysis problems, both for its good statistical properties and for the simplicity of implementation of the Expectation-Maximization (EM) algorithm. Within the context of a railway application, this paper introduces a novel mixture model for dealing with time series that are subject to changes in regime. The proposed approach consists in modeling each cluster by a regression model in which the polynomial coefficients vary according to a discrete hidden process. In particular, th…
