Machine Learning Advances for Time Series Forecasting
São Paulo School of Economics, Getulio Vargas Foundation（圣保罗经济学院，杰图利奥·瓦加斯基金会）；Pontifical Catholic University of Rio de Janeiro（里约热内卢天主教大学）；Getulio Vargas Foundation（杰图利奥·瓦加斯基金会）
Ricardo P. Masini, Marcelo C. Medeiros, Eduardo F. Mendes
In this paper we survey the most recent advances in supervised machine learning and high-dimensional models for time series forecasting. We consider both linear and nonlinear alternatives. Among the linear methods we pay special attention to penalized regressions and ensemble of models. The nonlinear methods considered in the paper include shallow and deep neural networks, in their feed-forward and recurrent versions, and tree-based methods, such as random forests and boosted trees. We also consider ensemble and hybrid models by combining ingredients from different alternatives. Tests for superior predictive ability are briefly reviewed. Finally, we discuss application of machine learning in economics and finance and provide an illustration with high-frequency financial data.
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 …
Monash University（莫纳什大学）；University of Sydney（悉尼大学）
Many businesses and industries nowadays rely on large quantities of time series data making time series forecasting an important research area. Global forecasting models that are trained across sets of time series have shown a huge potential in providing accurate forecasts compared with the traditional univariate forecasting models that work on isolated series. However, there are currently no comprehensive time series archives for forecasting that contain datasets of time series from similar sources available for the research community to evaluate the performance of new global forecasting algo…
Time series forecasting is difficult. It is difficult even for recurrent neural networks with their inherent ability to learn sequentiality. This article presents a recurrent neural network based time series forecasting framework covering feature engineering, feature importances, point and interval predictions, and forecast evaluation. The description of the method is followed by an empirical study using both LSTM and GRU networks.
Academy of Mathematics and Systems Science, Chinese Academy of Sciences（中国科学院数学与系统科学研究院）；School of Mathematical Sciences, University of Chinese Academy of Sciences（中国科学院大学数学科学学院）；School of Management, Xi'an Jiaotong University（西安交通大学管理学院）
A new variational mode decomposition (VMD) based deep learning approach is proposed in this paper for time series forecasting problem. Firstly, VMD is adopted to decompose the original time series into several sub-signals. Then, a convolutional neural network (CNN) is applied to learn the reconstruction patterns on the decomposed sub-signals to obtain several reconstructed sub-signals. Finally, a long short term memory (LSTM) network is employed to forecast the time series with the decomposed sub-signals and the reconstructed sub-signals as inputs. The proposed VMD-CNN-LSTM approach is origina…
In this paper, we present a new approach to time series forecasting. Time series data are prevalent in many scientific and engineering disciplines. Time series forecasting is a crucial task in modeling time series data, and is an important area of machine learning. In this work we developed a novel method that employs Transformer-based machine learning models to forecast time series data. This approach works by leveraging self-attention mechanisms to learn complex patterns and dynamics from time series data. Moreover, it is a generic framework and can be applied to univariate and multivariate …
Université Libre de Bruxelles（布鲁塞尔自由大学）；Cairo University（开罗大学）
Multi-step ahead forecasting is still an open challenge in time series forecasting. Several approaches that deal with this complex problem have been proposed in the literature but an extensive comparison on a large number of tasks is still missing. This paper aims to fill this gap by reviewing existing strategies for multi-step ahead forecasting and comparing them in theoretical and practical terms. To attain such an objective, we performed a large scale comparison of these different strategies using a large experimental benchmark (namely the 111 series from the NN5 forecasting competition). I…
NTT Communication Science Laboratories（NTT通信科学实验室）；NTT Software Innovation Center（NTT软件创新中心）
Time-series forecasting is important for many applications. Forecasting models are usually trained using time-series data in a specific target task. However, sufficient data in the target task might be unavailable, which leads to performance degradation. In this paper, we propose a few-shot learning method that forecasts a future value of a time-series in a target task given a few time-series in the target task. Our model is trained using time-series data in multiple training tasks that are different from target tasks. Our model uses a few time-series to build a forecasting function based on a…
Monash University（莫纳什大学）；University of Melbourne（墨尔本大学）
In the current context of Big Data, the nature of many forecasting problems has changed from predicting isolated time series to predicting many time series from similar sources. This has opened up the opportunity to develop competitive global forecasting models that simultaneously learn from many time series. But, it still remains unclear when global forecasting models can outperform the univariate benchmarks, especially along the dimensions of the homogeneity/heterogeneity of series, the complexity of patterns in the series, the complexity of forecasting models, and the lengths/number of seri…
We participated in the M4 competition for time series forecasting and describe here our methods for forecasting daily time series. We used an ensemble of five statistical forecasting methods and a method that we refer to as the correlator. Our retrospective analysis using the ground truth values published by the M4 organisers after the competition demonstrates that the correlator was responsible for most of our gains over the naive constant forecasting method. We identify data leakage as one reason for its success, partly due to test data selected from different time intervals, and partly due …
George Washington University（乔治华盛顿大学）；Shandong University（山东大学）；Beihang University（北京航空航天大学）
Time series forecasting is a key component in many industrial and business decision processes and recurrent neural network (RNN) based models have achieved impressive progress on various time series forecasting tasks. However, most of the existing methods focus on single-task forecasting problems by learning separately based on limited supervised objectives, which often suffer from insufficient training instances. As the Transformer architecture and other attention-based models have demonstrated its great capability of capturing long term dependency, we propose two self-attention based sharing…
In this work, we propose an ensemble forecasting approach based on randomized neural networks. Improved randomized learning streamlines the fitting abilities of individual learners by generating network parameters in accordance with the data and target function features. A pattern-based representation of time series makes the proposed approach suitable for forecasting time series with multiple seasonality. We propose six strategies for controlling the diversity of ensemble members. Case studies conducted on four real-world forecasting problems verified the effectiveness and superior performanc…
In this paper, we propose two nonparametric methods used in the forecasting of functional time-dependent data, namely functional singular spectrum analysis recurrent forecasting and vector forecasting. Both algorithms utilize the results of functional singular spectrum analysis and past observations in order to predict future data points where recurrent forecasting predicts one function at a time and the vector forecasting makes predictions using functional vectors. We compare our forecasting methods to a gold standard algorithm used in the prediction of functional, time-dependent data by way …
Central University of Finance and Economics（中央财经大学）；Beijing Wuzi University（北京物资学院）
Analyzing both temporal and spatial patterns for an accurate forecasting model for financial time series forecasting is a challenge due to the complex nature of temporal-spatial dynamics: time series from different locations often have distinct patterns; and for the same time series, patterns may vary as time goes by. Inspired by the successful applications of deep learning, we propose a new model to resolve the issues of forecasting household leverage in China. Our solution consists of multiple RNN-based layers and an attention layer: each RNN-based layer automatically learns the temporal pat…
Deep learning based forecasting methods have become the methods of choice in many applications of time series prediction or forecasting often outperforming other approaches. Consequently, over the last years, these methods are now ubiquitous in large-scale industrial forecasting applications and have consistently ranked among the best entries in forecasting competitions (e.g., M4 and M5). This practical success has further increased the academic interest to understand and improve deep forecasting methods. In this article we provide an introduction and overview of the field: We present importan…
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…
Optimal starting point for time series forecasting
School of Statistics and Mathematics, Central University of Finance and Economics（中央财经大学统计与数学学院）；Academy of Mathematics and Systems Science, Chinese Academy of Sciences（中国科学院数学与系统科学研究院）；Smart Campus Construction Center, Central University of Finance and Economics（中央财经大学智慧校园建设中心）；Guanghua School of Management, Peking University（北京大学光华管理学院）；School of Statistics, Beijing Normal University（北京师范大学统计学院）
How to handle time features shall be the core question of any time series forecasting model. Ironically, it is often ignored or misunderstood by deep-learning based models, even those baselines which are state-of-the-art. This behavior makes their inefficient, untenable and unstable. In this paper, we rigorously analyze three prevalent but deficient/unfounded deep time series forecasting mechanisms or methods from the view of time series properties, including normalization methods, multivariate forecasting and input sequence length. Corresponding corollaries and solutions are given on both emp…
Cyber-physical systems often consist of entities that interact with each other over time. Meanwhile, as part of the continued digitization of industrial processes, various sensor technologies are deployed that enable us to record time-varying attributes (a.k.a., time series) of such entities, thus producing correlated time series. To enable accurate forecasting on such correlated time series, this paper proposes two models that combine convolutional neural networks (CNNs) and recurrent neural networks (RNNs). The first model employs a CNN on each individual time series, combines the convoluted…
AI Institute（人工智能研究院）；Shanghai Jiao Tong University（上海交通大学）
Probabilistic time series forecasting involves estimating the distribution of future based on its history, which is essential for risk management in downstream decision-making. We propose a deep state space model for probabilistic time series forecasting whereby the non-linear emission model and transition model are parameterized by networks and the dependency is modeled by recurrent neural nets. We take the automatic relevance determination (ARD) view and devise a network to exploit the exogenous variables in addition to time series. In particular, our ARD network can incorporate the uncertai…
Machine learning methods trained on raw numerical time series data exhibit fundamental limitations such as a high sensitivity to the hyper parameters and even to the initialization of random weights. A combination of a recurrent neural network with a dimension-reducing symbolic representation is proposed and applied for the purpose of time series forecasting. It is shown that the symbolic representation can help to alleviate some of the aforementioned problems and, in addition, might allow for faster training without sacrificing the forecast performance.
Long Short-Term Memory (LSTM) networks are often used to capture temporal dependency patterns. By stacking multi-layer LSTM networks, it can capture even more complex patterns. This paper explores the effectiveness of applying stacked LSTM networks in the time series prediction domain, specifically, the traffic volume forecasting. Being able to predict traffic volume more accurately can result in better planning, thus greatly reduce the operation cost and improve overall efficiency.
Forecasting models that are trained across sets of many time series, known as Global Forecasting Models (GFM), have shown recently promising results in forecasting competitions and real-world applications, outperforming many state-of-the-art univariate forecasting techniques. In most cases, GFMs are implemented using deep neural networks, and in particular Recurrent Neural Networks (RNN), which require a sufficient amount of time series to estimate their numerous model parameters. However, many time series databases have only a limited number of time series. In this study, we propose a novel, …
Numerous deep learning architectures have been developed to accommodate the diversity of time series datasets across different domains. In this article, we survey common encoder and decoder designs used in both one-step-ahead and multi-horizon time series forecasting -- describing how temporal information is incorporated into predictions by each model. Next, we highlight recent developments in hybrid deep learning models, which combine well-studied statistical models with neural network components to improve pure methods in either category. Lastly, we outline some ways in which deep learning c…
Middle East Technical University（中东技术大学）；Massachusetts Institute of Technology（麻省理工学院）
Many applications in different domains produce large amount of time series data. Making accurate forecasting is critical for many decision makers. Various time series forecasting methods exist which use linear and nonlinear models separately or combination of both. Studies show that combining of linear and nonlinear models can be effective to improve forecasting performance. However, some assumptions that those existing methods make, might restrict their performance in certain situations. We provide a new Autoregressive Integrated Moving Average (ARIMA)-Artificial Neural Network(ANN) hybrid me…
Stanford University（斯坦福大学）；AWS AI Labs（AWS人工智能实验室）
Meta-forecasting is a newly emerging field which combines meta-learning and time series forecasting. The goal of meta-forecasting is to train over a collection of source time series and generalize to new time series one-at-a-time. Previous approaches in meta-forecasting achieve competitive performance, but with the restriction of training a separate model for each sampling frequency. In this work, we investigate meta-forecasting over different sampling frequencies, and introduce a new model, the Continuous Frequency Adapter (CFA), specifically designed to learn frequency-invariant representati…
Time series modeling and forecasting has fundamental importance to various practical domains. Thus a lot of active research works is going on in this subject during several years. Many important models have been proposed in literature for improving the accuracy and effectiveness of time series forecasting. The aim of this dissertation work is to present a concise description of some popular time series forecasting models used in practice, with their salient features. In this thesis, we have described three important classes of time series models, viz. the stochastic, neural networks and SVM ba…
Time series forecasting is an important yet challenging task. Though deep learning methods have recently been developed to give superior forecasting results, it is crucial to improve the interpretability of time series models. Previous interpretation methods, including the methods for general neural networks and attention-based methods, mainly consider the interpretation in the feature dimension while ignoring the crucial temporal dimension. In this paper, we present the series saliency framework for temporal interpretation for multivariate time series forecasting, which considers the forecast…
In the context of time series forecasting, it is a common practice to evaluate multiple methods and choose one of these methods or an ensemble for producing the best forecasts. However, choosing among different ensembles over multiple methods remains a challenging task that undergoes a combinatorial explosion as the number of methods increases. In the context of demand forecasting or revenue forecasting, this challenge is further exacerbated by a large number of time series as well as limited historical data points available due to changing business context. Although deep learning forecasting …
IIT（意大利理工学院）；UCL（伦敦大学学院）；Amazon Web Services（亚马逊云服务）
While classical time series forecasting considers individual time series in isolation, recent advances based on deep learning showed that jointly learning from a large pool of related time series can boost the forecasting accuracy. However, the accuracy of these methods suffers greatly when modeling out-of-sample time series, significantly limiting their applicability compared to classical forecasting methods. To bridge this gap, we adopt a meta-learning view of the time series forecasting problem. We introduce a novel forecasting method, called Meta Global-Local Auto-Regression (Meta-GLAR), t…
The problem of (point) forecasting $ \textit{univariate} $ time series is considered. Most approaches, ranging from traditional statistical methods to recent learning-based techniques with neural networks, directly operate on raw time series observations. As an extension, we study whether $\textit{local topological properties}$, as captured via persistent homology, can serve as a reliable signal that provides complementary information for learning to forecast. To this end, we propose $\textit{topological attention}$, which allows attending to local topological features within a time horizon of…
Beihang University（北京航空航天大学）；Central University of Finance and Economics（中央财经大学）
Feature-based time series representations have attracted substantial attention in a wide range of time series analysis methods. Recently, the use of time series features for forecast model averaging has been an emerging research focus in the forecasting community. Nonetheless, most of the existing approaches depend on the manual choice of an appropriate set of features. Exploiting machine learning methods to extract features from time series automatically becomes crucial in state-of-the-art time series analysis. In this paper, we introduce an automated approach to extract time series features …
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.
In this paper, we propose a machine learning approach for forecasting hierarchical time series. When dealing with hierarchical time series, apart from generating accurate forecasts, one needs to select a suitable method for producing reconciled forecasts. Forecast reconciliation is the process of adjusting forecasts to make them coherent across the hierarchy. In literature, coherence is often enforced by using a post-processing technique on the base forecasts produced by suitable time series forecasting methods. On the contrary, our idea is to use a deep neural network to directly produce accu…
We introduce a Gaussian process-based model for handling of non-stationarity. The warping is achieved non-parametrically, through imposing a prior on the relative change of distance between subsequent observation inputs. The model allows the use of general gradient optimization algorithms for training and incurs only a small computational overhead on training and prediction. The model finds its applications in forecasting in non-stationary time series with either gradually varying volatility, presence of change points, or a combination thereof. We evaluate the model on synthetic and real-world…
UC Santa Barbara（加州大学圣巴巴拉分校）；Brown University（布朗大学）；UC Los Angeles（加州大学洛杉矶分校）；Columbia University（哥伦比亚大学）
Time series forecasting with limited data is a challenging yet critical task. While transformers have achieved outstanding performances in time series forecasting, they often require many training samples due to the large number of trainable parameters. In this paper, we propose a training technique for transformers that prepares the training windows through random sampling. As input time steps need not be consecutive, the number of distinct samples increases from linearly to combinatorially many. By breaking the temporal order, this technique also helps transformers to capture dependencies am…
Cross-LKTCN: Modern Convolution Utilizing Cross-Variable Dependency for Multivariate Time Series Forecasting Dependency for Multivariate Time Series Forecasting
PALO ALTO NETWORKS（帕洛阿尔托网络公司）；ADVANCED APPLIED AI RESEARCH（高级应用人工智能研究院）
Time series forecasting is a fundamental task emerging from diverse data-driven applications. Many advanced autoregressive methods such as ARIMA were used to develop forecasting models. Recently, deep learning based methods such as DeepAr, NeuralProphet, Seq2Seq have been explored for time series forecasting problem. In this paper, we propose a novel time series forecast model, DeepGB. We formulate and implement a variant of Gradient boosting wherein the weak learners are DNNs whose weights are incrementally found in a greedy manner over iterations. In particular, we develop a new embedding ar…
Ryazan State Radio Engineering University（梁赞国立无线电工程学院）；Moscow Technological Institute（莫斯科技术学院）；National Research University Higher School of Economics (HSE)（俄罗斯国家研究型高等经济大学）
The paper is focused on the forecasting method for time series groups with the use of algorithms for cluster analysis. $K$-means algorithm is suggested to be a basic one for clustering. The coordinates of the centers of clusters have been put in correspondence with summarizing time series data the centroids of the clusters. A description of time series, the centroids of the clusters, is implemented with the use of forecasting models. They are based on strict binary trees and a modified clonal selection algorithm. With the help of such forecasting models, the possibility of forming analytic dep…
Kaunas University of Technology（考纳斯理工大学）；Rivile（Rivile私人有限责任公司）
Amounts of historical data collected increase and business intelligence applicability with automatic forecasting of time series are in high demand. While no single time series modeling method is universal to all types of dynamics, forecasting using an ensemble of several methods is often seen as a compromise. Instead of fixing ensemble diversity and size, we propose to predict these aspects adaptively using meta-learning. Meta-learning here considers two separate random forest regression models, built on 390 time-series features, to rank 22 univariate forecasting methods and recommend ensemble…
Time-Series Forecasting is a powerful data modeling discipline that analyzes historical observations to predict future values of a time-series. It has been utilized in numerous applications, including but not limited to economics, meteorology, and health. In this paper, we use time-series forecasting techniques to model and predict the future incidence of chickenpox. To achieve this, we implement and simulate multiple models and data preprocessing techniques on a Hungary-collected dataset. We demonstrate that the LSTM model outperforms all other models in the vast majority of the experiments i…
Time Series Forecasting is at the core of many practical applications such as sales forecasting for business, rainfall forecasting for agriculture and many others. Though this problem has been extensively studied for years, it is still considered a challenging problem due to complex and evolving nature of time series data. Typical methods proposed for time series forecasting modeled linear or non-linear dependencies between data observations. However it is a generally accepted notion that no one method is universally effective for all kinds of time series data. Attempts have been made to use d…
Various modifications of TRANSFORMER were recently used to solve time-series forecasting problem. We propose Query Selector - an efficient, deterministic algorithm for sparse attention matrix. Experiments show it achieves state-of-the art results on ETT, Helpdesk and BPI'12 datasets.
Time series forecasting is a hot spot in recent years. Visibility Graph (VG) algorithm is used for time series forecasting in previous research, but the forecasting effect is not as good as deep learning prediction methods such as methods based on Artificial Neural Network (ANN), Convolutional Neural Network (CNN) and Long Short-Term Memory Network (LSTM). The visibility graph generated from specific time series contains abundant network information, but the previous forecasting method did not effectively use the network information to forecast, resulting in relatively large prediction errors.…
Częstochowa University of Technology（琴斯托霍瓦工业大学）；Facebook（脸书）
Time series forecasting is a challenging problem particularly when a time series expresses multiple seasonality, nonlinear trend and varying variance. In this work, to forecast complex time series, we propose ensemble learning which is based on randomized neural networks, and boosted in three ways. These comprise ensemble learning based on residuals, corrected targets and opposed response. The latter two methods are employed to ensure similar forecasting tasks are solved by all ensemble members, which justifies the use of exactly the same base models at all stages of ensembling. Unification of…
Time series forecasting plays an increasingly important role in modern business decisions. In today's data-rich environment, people often aim to choose the optimal forecasting model for their data. However, identifying the optimal model requires professional knowledge and experience, making accurate forecasting a challenging task. To mitigate the importance of model selection, we propose a simple and reliable algorithm to improve the forecasting performance. Specifically, we construct multiple time series with different sub-seasons from the original time series. These derived series highlight …
Universiti Tun Hussein Onn Malaysia（马来西亚敦胡先翁大学）；Hodeidah University（荷台达大学）
Time series forecasting gets much attention due to its impact on many practical applications. Higher-order neural network with recurrent feedback is a powerful technique which used successfully for forecasting. It maintains fast learning and the ability to learn the dynamics of the series over time. For that, in this paper, we propose a novel model which is called Ridge Polynomial Neural Network with Error-Output Feedbacks (RPNN-EOFs) that combines the properties of higher order and error-output feedbacks. The well-known Mackey-Glass time series is used to test the forecasting capability of RP…
