Time-Series Mining (TSM) is an important research area since it shows great potential in practical applications. Deep learning models that rely on massive labeled data have been utilized for TSM successfully. However, constructing a large-scale well-labeled dataset is difficult due to data annotation costs. Recently, pre-trained models have gradually attracted attention in the time series domain due to their remarkable performance in computer vision and natural language processing. In this survey, we provide a comprehensive review of Time-Series Pre-Trained Models (TS-PTMs), aiming to guide the understanding, applying, and studying TS-PTMs. Specifically, we first briefly introduce the typical deep learning models employed in TSM. Then, we give an overview of TS-PTMs according to the pre-training techniques. The main categories we explore include supervised, unsupervised, and self-supervised TS-PTMs. Further, extensive experiments involving 27 methods, 434 datasets, and 679 transfer learning scenarios are conducted to analyze the advantages and disadvantages of transfer learning strategies, Transformer-based models, and representative TS-PTMs. Finally, we point out some potential directions of TS-PTMs for future work.

Recurrent autoencoder is a popular model for time series anomaly detection, in which outliers or abnormal segments are identified by their high reconstruction errors. However, existing recurrent autoencoders can easily suffer from overfitting and error accumulation due to sequential decoding. In this paper, we propose a simple yet efficient recurrent network ensemble called Recurrent Autoencoder with Multiresolution Ensemble Decoding (RAMED). By using decoders with different decoding lengths and a new coarse-to-fine fusion mechanism, lower-resolution information can help long-range decoding for decoders with higher-resolution outputs. A multiresolution shape-forcing loss is further introduced to encourage decoders' outputs at multiple resolutions to match the input's global temporal shape. Finally, the output from the decoder with the highest resolution is used to obtain an anomaly score at each time step. Extensive empirical studies on real-world benchmark data sets demonstrate that the proposed RAMED model outperforms recent strong baselines on time series anomaly detection.