Covariates provide valuable information on external factors that influence time series and are critical in many real-world time series forecasting tasks. For example, in retail, covariates may indicate promotions or peak dates such as holiday seasons that heavily influence demand forecasts. Recent advances in pretraining large language model architectures for time series forecasting have led to highly accurate forecasters. However, the majority of these models do not readily use covariates as they are often specific to a certain task or domain. This paper introduces a new method to incorporate covariates into pretrained time series forecasting models. Our proposed approach incorporates covariate information into pretrained forecasting models through modular blocks that inject past and future covariate information, without necessarily modifying the pretrained model in consideration. In order to evaluate our approach, we introduce a benchmark composed of 32 different synthetic datasets with varying dynamics to evaluate the effectivity of forecasting models with covariates. Extensive evaluations on both synthetic and real datasets show that our approach effectively incorporates covariate information into pretrained models, outperforming existing baselines.

Forecasting extrapolates the values of a time series into the future, and is crucial to optimize core operations for many businesses and organizations. Building machine learning (ML)-based forecasting applications presents a challenge though, due to non-stationary data and large numbers of time series. As there is no single dominating approach to forecasting, forecasting systems have to support a wide variety of approaches, ranging from deep learning-based methods to classical methods built on probabilistic modelling. We revisit our earlier work on a monolithic platform for forecasting from VLDB 2017, and describe how we evolved it into a modern forecasting stack consisting of several layers that support a wide range of forecasting needs and automate common tasks like model selection. This stack leverages our open source forecasting libraries GluonTS and AutoGluon-TimeSeries , the scalable ML platform SageMaker , and forms the basis of the no-code forecasting solutions ( SageMaker Canvas and Amazon Forecast ), available in the Amazon Web Services cloud. We give insights into the predictive performance of our stack and discuss learnings from using it to provision resources for the cloud database services DynamoDB, Redshift and Athena.

This paper tackles the modelling of large, complex and multivariate time series panels in a probabilistic setting. To this extent, we present a novel approach reconciling classical state space models with deep learning methods. By augmenting state space models with normalizing flows, we mitigate imprecisions stemming from idealized assumptions in state space models. The resulting model is highly flexible while still retaining many of the attractive properties of state space models, e.g., uncertainty and observation errors are properly accounted for, inference is tractable, sampling is efficient, good generalization performance is observed, even in low data regimes. We demonstrate competitiveness against state-of-the-art deep learning methods on the tasks of forecasting real world data and handling varying levels of missing data.

There is a large body of research on scalable machine learning (ML). Nevertheless, training ML models on large, continuously evolving datasets is still a difficult and costly undertaking for many companies and institutions. We discuss such challenges and derive requirements for an industrial-scale ML platform. Next, we describe the computational model behind Amazon SageMaker, which is designed to meet such challenges. SageMaker is an ML platform provided as part of Amazon Web Services (AWS), and supports incremental training, resumable and elastic learning as well as automatic hyperparameter optimization. We detail how to adapt several popular ML algorithms to its computational model. Finally, we present an experimental evaluation on large datasets, comparing SageMaker to several scalable, JVM-based implementations of ML algorithms, which we significantly outperform with regard to computation time and cost.

We introduce the Gluon Time Series Toolkit (GluonTS), a Python library for deep learning based time series modeling for ubiquitous tasks, such as forecasting and anomaly detection. GluonTS simplifies the time series modeling pipeline by providing the necessary components and tools for quick model development, efficient experimentation and evaluation. In addition, it contains reference implementations of state-of-the-art time series models that enable simple benchmarking of new algorithms.

We present a novel approach to probabilistic time series forecasting that combines state space models with deep learning. By parametrizing a per-time-series linear state space model with a jointly-learned recurrent neural network, our method retains desired properties of state space models such as data efficiency and interpretability, while making use of the ability to learn complex patterns from raw data offered by deep learning approaches. Our method scales gracefully from regimes where little training data is available to regimes where data from millions of time series can be leveraged to learn accurate models. We provide qualitative as well as quantitative results with the proposed method, showing that it compares favorably to the state-of-the-art.