Map matching for sparse trajectories is a fundamental problem for many trajectory-based applications, e.g., traffic scheduling and traffic flow analysis. Existing methods for map matching are generally based on Hidden Markov Model (HMM) or encoder-decoder framework. However, these methods continue to face significant challenges when handling noisy or sparsely sampled GPS trajectories. To address these limitations, we propose DiffMM, an encoder–diffusion-based map matching framework that produces effective yet efficient matching results through a one-step diffusion process. We first introduce a road segment-aware trajectory encoder that jointly embeds the input trajectory and its surrounding candidate road segments into a shared latent space through an attention mechanism. Next, we propose a one step diffusion method to realize map matching through a shortcut model by leveraging the joint embedding of the trajectory and candidate road segments as conditioning context. We conduct extensive experiments on large-scale trajectory datasets, demonstrating that our approach consistently outperforms state-of-the-art map matching methods in terms of both accuracy and efficiency, particularly for sparse trajectories and complex road network topologies.

The forecasting of irregular multivariate time series (IMTS) is crucial in key areas such as healthcare, biomechanics, climate science, and astronomy. However, achieving accurate and practical predictions is challenging due to two main factors. First, the inherent irregularity and data missingness in irregular time series make modeling difficult. Second, most existing methods are typically complex and resource-intensive. In this study, we propose a general framework called APN to address these challenges. Specifically, we design a novel Time-Aware Patch Aggregation (TAPA) module that achieves adaptive patching. By learning dynamically adjustable patch boundaries and a time-aware weighted averaging strategy, TAPA transforms the original irregular sequences into high-quality, regularized representations in a channel-independent manner. Additionally, we use a simple query module to effectively integrate historical information while maintaining the model's efficiency. Finally, predictions are made by a shallow MLP. Experimental results on multiple real-world datasets show that APN outperforms existing state-of-the-art methods in both efficiency and accuracy.

Imputing missing values in spatial-temporal traffic data is essential for intelligent transportation systems. Among advanced imputation methods, score-based diffusion models have demonstrated competitive performance. These models generate data by reversing a noising process, using observed values as conditional guidance. However, existing diffusion models typically apply a uniform guidance scale across both spatial and temporal dimensions, which is inadequate for nodes with high missing data rates. Sparse observations provide insufficient conditional guidance, causing the generative process to drift toward the learned prior distribution rather than closely following the conditional observations, resulting in suboptimal imputation performance. To address this, we propose FENCE, a spatial-temporal feedback diffusion guidance method designed to adaptively control guidance scales during imputation. First, FENCE introduces a dynamic feedback mechanism that adjusts the guidance scale based on the posterior likelihood approximations. The guidance scale is increased when generated values diverge from observations and reduced when alignment improves, preventing overcorrection. Second, because alignment to observations varies across nodes and denoising steps, a global guidance scale for all nodes is suboptimal. FENCE computes guidance scales at the cluster level by grouping nodes based on their attention scores, leveraging spatial-temporal correlations to provide more accurate guidance. Experimental results on real-world traffic datasets show that FENCE significantly enhances imputation accuracy.

Structure-Based Drug Design (SBDD) has emerged as a popular approach in drug discovery, leveraging three-dimensional protein structures to generate drug ligands. However, existing generative models encounter several key challenges: (1) Incorporating boundary condition constraints, (2) Integrating hierarchical structural conditions and (3) Ensuring spatial modeling fidelity. To overcome these limitations, we propose SculptDrug, a spatial condition-aware generative model based on Bayesian Flow Networks (BFNs). First, SculptDrug follows a BFNs-based framework and employs a progressive denoising strategy to ensure spatial modeling fidelity, iteratively refining atom positions while enhancing local interactions for precise spatial alignment. Second, we introduce the Boundary Awareness Block, which incorporates protein surface constraints into the generative process to ensure that the generated ligands are geometrically compatible with the target protein. Finally, we design a Hierarchical Encoder that captures global structural context while preserving fine-grained molecular interactions, ensuring overall consistency and accurate ligand-protein conformations. We evaluate SculptDrug on the CrossDocked dataset, and experimental results demonstrate that SculptDrug outperforms state-of-the-art baselines, proving the efficacy of spatial condition-aware modeling.

In real-world web applications, especially those involving sensor networks and Internet of Things (IoT) devices, time series data are often incomplete due to network delays, device failures or logging constraints. Such missing data can severely affect downstream tasks including anomaly detection, recommendation, and A/B testing, making imputation a critical step for reliable web analytics. Diffusion models have recently achieved strong performance for time series imputation. As relevant research progresses, the spectral nature of time series has received increasing attention. However, most ''frequency-aware'' diffusion variants modify either the input or network architecture, but the variance schedule in the forward process remains unchanged, injecting noise with the same variance into every frequency bin. This limitation prevents diffusion from adapting to real data, where spectral energy varies irregularly across frequencies rather than following a simple high–low split. To address these issues, we propose Frequency-Shaped Diffusion (FSDI), which replaces the uniform variance schedule with a data-driven schedule in the frequency domain. Frequency bin variances are estimated from the spectral energy distribution of the data, allocated as inverses of that energy, and then Parseval-calibrated so the total noise energy exactly matches standard diffusion, preserving training stability and ensuring fair comparison. Experiments on real-world datasets demonstrate that FSDI achieves state-of-the-art performance. All code have been made publicly at https://github.com/decisionintelligence/FSDI.

Time series anomaly detection is typically used to identify data that deviates significantly from normal data, often indicating faults or failures in the underlying system, thus facilitating system stability and safety. Most existing methods focus on detecting anomalies after they occur, while research on predicting future anomalies remains scarce. Before anomalies manifest themselves, there are often subtle precursors exhibiting slight deviations from normal behavior, with varying reaction times and intensities. Next, the setting is often characterized by a lack of labeled data, which complicates model training. To address these challenges, we propose a time series anomaly prediction framework, TAP. It can adapt flexibly to varying reaction times of anomaly precursors across different variables using a period-aware multi-scale module, and it is able to strengthen the distinction between precursors and normal sequences via a dual-branch framework that combines reconstruction and contrastive learning. The contrastive branch employs a controlled generation strategy within the multi-scale patching to produce diverse hard negative samples for precursor identification. The reconstruction branch complements this by evaluating fluctuation magnitudes to ensure sensitivity to subtle variations. We report on experiments on eight datasets from diverse domains, finding that TAP is capable of competitive or superior performance compared to baseline methods for both anomaly detection and prediction.

In the field of material science, the analysis of the properties of crystalline materials is of key importance. Recently, machine learning has become a prominent tool for predicting the properties of materials based on their structure. However, the application of machine learning to crystal property prediction faces two significant challenges. The first is the scarcity of labeled data, due to the time-consuming and resource-intensive process of crystal property labeling. The second is the importance of leveraging specialized knowledge when performing crystal structure analysis, which requires adapting machine learning methods specifically for the crystal domain. In this paper, we propose a new semi-supervised framework, aKnowledge-BasedSemi-Supervised crystal property prediction (KBSS) framework, which employs consistency regularization to leverage both labeled and unlabeled data while incorporating crystal knowledge guidance. Specifically, to use unlabeled data efficiently, the KBSS framework incorporates two key modules: a knowledge-guided augmentation (KGA) module and an adaptive pseudo-label filtering (APF) module. The KGA module utilizes the Monte Carlo method to leverage knowledge from the crystal domain to guide weak and strong augmentations of crystal structures. The APF module enhances the pseudo-labeling process for unlabeled crystal data by enabling task-guided uncertainty adjustment and category-aware pseudo-label selection. The experimental results show that KBSS achieves state-of-the-art performance. All code is publicly available athttps://github.com/HaominYu0/KBSS.

Individual trajectory prediction plays a crucial role in intelligent transportation systems. While existing methods demonstrate strong performance in short-term forecasting (e.g., minute-level predictions), they are limited in modeling long-term patterns (day-level predictions). The key challenge is capturing both the periodic regularity and stochastic variability of urban mobility. To bridge this gap, we propose VF-Diffusion, a novel framework for long-term individual trajectory prediction with three key innovations: (1) A direction-sensitive diffusion model that generates baseline trajectories by learning motion trends; (2) A trajectory rectification module that refines spatial displacements using historical median coordinates; and (3) A frequency-sensitive mechanism that identifies high-frequency visit locations, predicts their temporal sequences via an ensemble model, and integrates them with the baseline trajectory. By combining generative modeling with a frequency-sensitive mechanism, VF-Diffusion fills a critical gap in existing methods, offering the ability to predict new visiting areas and improve trajectory accuracy. Extensive experiments on Beijing Wi-Fi trajectory data show that our method outperforms four baselines, achieving about 90% accuracy for predictions within a 1 km threshold. It particularly excels in areas with frequent and periodic visits. This framework advances trajectory prediction by enabling multi-day forecasting, a previously underexplored capability, and offers practical solutions for enhancing smart city infrastructure.

Time series forecasting has important applications across diverse domains. EasyTime, the system we demonstrate, facilitates easy use of time-series forecasting methods by researchers and practitioners alike. First, EasyTime enables one-click evaluation, enabling researchers to evaluate new forecasting methods using the suite of diverse time series datasets collected in the preexisting time series forecasting benchmark (TFB). This is achieved by leveraging TFB's flexible and consistent evaluation pipeline. Second, when practitioners must perform forecasting on a new dataset, a nontrivial first step is often to find an appropriate forecasting method. EasyTime provides an Automated Ensemble module that combines the promising forecasting methods to yield superior forecasting accuracy compared to individual methods. Third, EasyTime offers a natural language Q&A module leveraging large language models. Given a question like “Which method is best for long term forecasting on time series with strong seasonality?”, EasyTime converts the question into SQL queries on the database of results obtained by TFB and then returns an answer in natural language and charts. By demonstrating EasyTime11https://decisionintelligence.github.io/EasyTime, we aim to show how it simplifies the use of time-series forecasting and facilitates the development of new generations of time series forecasting methods.

Due to the high coverage and low cost nature of trajectory data, an increasing number of works have utilized trajectory data to infer maps. Nevertheless, limited by the sparse trajectories in some areas and intermingled trajectories on parallel roads, the existing inferring methods still face a high missed detection rate of the roads. In view of that, we propose a Complementarity and Disparity-aware Map Inference Framework, called CDMap, consisting of grid dual feature extraction, contextual road difference-embedded grid representation, dual feature complementary network-based road topology prediction and parallel roads disparity-enhanced model optimization. To improve the prediction accuracy of the roads in areas with sparse trajectories, we extract point-wise features and segment-wise features separately for the grids, then design a dual feature complementary network to adaptively model the importance of both types of features in different road scenarios. Further, to proliferate the detection accuracy of parallel roads, we incorporate the contextual roads' differences between parallel roads into grid representations, then put forward a parallel roads disparity-enhanced model optimization strategy. Extensive comparative experiments conducted on three real-world datasets demonstrate the superiority of CDMap over the state-of-the-art methods, especially by achieving the most significant reduction in missed detection rate (30.23%) on the trajectory data collected from DidiChuxing platform.

Anomaly detection in multivariate time series is challenging as heterogeneous subsequence anomalies may occur. Reconstruction-based methods, which focus on learning normal patterns in the frequency domain to detect diverse abnormal subsequences, achieve promising results, while still falling short on capturing fine-grained frequency characteristics and channel correlations. To contend with the limitations, we introduce CATCH, a framework based on frequency patching. We propose to patchify the frequency domain into frequency bands, which enhances its ability to capture fine-grained frequency characteristics. To perceive appropriate channel correlations, we propose a Channel Fusion Module (CFM), which features a patch-wise mask generator and a masked-attention mechanism. Driven by a bi-level multi-objective optimization algorithm, the CFM is encouraged to iteratively discover appropriate patch-wise channel correlations, and to cluster relevant channels while isolating adverse effects from irrelevant channels. Extensive experiments on 10 real-world datasets and 12 synthetic datasets demonstrate that CATCH achieves state-of-the-art performance. We make our code and datasets available at https://github.com/decisionintelligence/CATCH.

Probabilistic Time Series Forecasting (PTSF) plays a crucial role in decision-making across various fields, including economics, energy, and transportation. Most existing methods excell at short-term forecasting, while overlooking the hurdles of Long-term Probabilistic Time Series Forecasting (LPTSF). As the forecast horizon extends, the inherent nonlinear dynamics have a significant adverse effect on prediction accuracy, and make generative models inefficient by increasing the cost of each iteration. To overcome these limitations, we introduce $K^2$VAE, an efficient VAE-based generative model that leverages a KoopmanNet to transform nonlinear time series into a linear dynamical system, and devises a KalmanNet to refine predictions and model uncertainty in such linear system, which reduces error accumulation in long-term forecasting. Extensive experiments demonstrate that $K^2$VAE outperforms state-of-the-art methods in both short- and long-term PTSF, providing a more efficient and accurate solution.

Spatio-temporal trajectories are crucial for data mining tasks, requiring versatile learning methods that can accurately extract movement patterns and travel purposes. While large language models (LLMs) have shown remarkable versatility through training on extensive datasets, and trajectories share similarities with natural language, standard LLMs cannot directly handle spatio-temporal features or extract trajectory-specific information. We propose TrajCogn, a model that effectively adapts LLMs for trajectory learning. TrajCogn incorporates a novel trajectory semantic embedder to process spatio-temporal features and extract movement patterns and travel purposes, along with a trajectory prompt that integrates this information into LLMs for various downstream tasks. Experiments on three real-world datasets and four representative tasks demonstrate TrajCogn's effectiveness.

Passenger demand forecasting helps optimize vehicle scheduling, thereby improving urban efficiency. Recently, attention-based methods have been used to adequately capture the dynamic nature of spatio-temporal data. However, existing methods that rely on heuristic masking strategies cannot fully adapt to the complex spatio-temporal correlations, hindering the model from focusing on the right context. These works also overlook the high-level correlations that exist in the real world. Effectively integrating these high-level correlations with the original correlations is crucial. To fill this gap, we propose the Aggregation Differential Transformer (ADFormer), which offers new insights to demand forecasting promotion. Specifically, we utilize Differential Attention to capture the original spatial correlations and achieve attention denoising. Meanwhile, we design distinct aggregation strategies based on the nature of space and time. Then, the original correlations are unified with the high-level correlations, enabling the model to capture holistic spatio-temporal relations. Experiments conducted on taxi and bike datasets confirm the effectiveness and efficiency of our model, demonstrating its practical value. The code is available at https://github.com/decisionintelligence/ADFormer.

Recently, camera localization has been widely adopted in autonomous robotic navigation due to its efficiency and convenience. However, autonomous navigation in unknown environments often suffers from scene ambiguity, environmental disturbances, and dynamic object transformation in camera localization. To address this problem, inspired by the brain cognitive navigation mechanism (such as grid cells, place cells, and head direction cells), we propose a novel neurobiological camera location method, namely NeuroLoc. Firstly, we designed a Hebbian learning module driven by place cells to save and replay historical information, aiming to restore the details of historical representations and solve the issue of scene fuzziness. Secondly, we utilized the head direction cell-inspired internal direction learning as multi-head attention embedding to help restore the true orientation in similar scenes. Finally, we added a 3D grid center prediction in the pose regression module to reduce the final wrong prediction. We evaluate the proposed NeuroLoc on commonly used benchmark indoor and outdoor datasets. The experimental results show that our NeuroLoc can enhance the robustness in complex environments and improve the performance of pose regression by using only a single image.

Developing effective path representations has become increasingly essential across various fields within intelligent transportation. Although pre-trained path representation learning models have shown improved performance, they predominantly focus on the topological structures from single modality data, i.e., road networks, overlooking the geometric and contextual features associated with path-related images, e.g., remote sensing images. Similar to human understanding, integrating information from multiple modalities can provide a more comprehensive view, enhancing both representation accuracy and generalization. However, variations in information granularity impede the semantic alignment of road network-based paths (road paths) and image-based paths (image paths), while the heterogeneity of multi-modal data poses substantial challenges for effective fusion and utilization. In this paper, we propose a novel Multi-modal, Multi-granularity Path Representation Learning Framework (MM-Path), which can learn a generic path representation by integrating modalities from both road paths and image paths. To enhance the alignment of multi-modal data, we develop a multi-granularity alignment strategy that systematically associates nodes, road sub-paths, and road paths with their corresponding image patches, ensuring the synchronization of both detailed local information and broader global contexts. To address the heterogeneity of multi-modal data effectively, we introduce a graph-based cross-modal residual fusion component designed to comprehensively fuse information across different modalities and granularities. Finally, we conduct extensive experiments on two large-scale real-world datasets under two downstream tasks, validating the effectiveness of the proposed MM-Path.

Time Series Forecasting (TSF) is key functionality in numerous fields, such as financial investment, weather services, and energy management. Although increasingly capable TSF methods occur, many of them require domain-specific data collection and model training and do not generalize well when applied in other domains. Time Series Foundation Models (TSFMs) that are pre-trained on massive heterogeneous time series data aim to overcome these limitations. The prospects for generalizability have spurred the development of a new generation of TSFMs. This study proposes a benchmark, TSFM-Bench, to facilitate comprehensive and unified evaluation of TSFMs. TSFM-Bench covers a wide range of TSFMs, including those based on large language models and those pre-trained on time series data. TSFM-Bench supports multiple forecasting scenarios, including zero-shot, few-shot, and full-shot, enabling assessment across the full range of adaptation strategies. TSFM-Bench also provides a standardized experimental protocols for critical evaluation processes such as dataset splitting, loading, normalization, and few-shot sampling, facilitating consistency and fairness. We report on an extensive evaluation of TSFMs across a diverse range of datasets spanning multiple domains and exhibiting varied statistical characteristics. Specifically, we identify pros and cons and inherent limitations of existing TSFMs, and we propose potential directions for new model designs.

Probabilistic time series imputation has been widely applied in real-world scenarios due to its ability for uncertainty estimation and denoising diffusion probabilistic models (DDPMs) have achieved great success in probabilistic time series imputation tasks with its power to model complex distributions. However, current DDPM-based probabilistic time series imputation methodologies are confronted with two types of challenges: 1) The backbone modules of the denoising parts are not capable of achieving sequence modeling with low time complexity. 2) The architecture of denoising modules can not handle the dependencies in the time series data effectively. To address the first challenge, we explore the potential of state space model, namely Mamba, as the backbone denoising module for DDPMs. To tackle the second challenge, we carefully devise several SSM-based blocks for time series data modeling. Experimental results demonstrate that our approach can achieve state-of-the-art time series imputation results on multiple real-world datasets. Our datasets and code are available at https://github.com/decisionintelligence/SSD-TS/

Multivariate time series forecasting is crucial for various applications, such as financial investment, energy management, weather forecasting, and traffic optimization. However, accurate forecasting is challenging due to two main factors. First, real-world time series often show heterogeneous temporal patterns caused by distribution shifts over time. Second, correlations among channels are complex and intertwined, making it hard to model the interactions among channels precisely and flexibly.

Time series forecasting holds significant value in various domains such as economics, traffic, energy, and AIOps, as accurate predictions facilitate informed decision-making. However, the existing Mean Squared Error (MSE) loss function sometimes fails to accurately capture the seasonality or trend within the forecasting horizon, even when decomposition modules are used in the forward propagation to model the trend and seasonality separately. To address these challenges, we propose a simple yet effective Decomposition-Based Loss function called DBLoss. This method uses exponential moving averages to decompose the time series into seasonal and trend components within the forecasting horizon, and then calculates the loss for each of these components separately, followed by weighting them. As a general loss function, DBLoss can be combined with any deep learning forecasting model. Extensive experiments demonstrate that DBLoss significantly improves the performance of state-of-the-art models across diverse real-world datasets and provides a new perspective on the design of time series loss functions.

Spatiotemporal trajectory data is crucial for various traffic-related applications. However, issues such as device malfunctions and network instability often result in sparse trajectories that lose detailed movement information compared to their dense counterparts. Recovering missing points in sparse trajectories is thus essential. Despite recent progress, three challenges remain. First, the lack of large-scale dense trajectory datasets hinders the training of a trajectory recovery model. Second, the varying spatiotemporal correlations in sparse trajectories make it hard to generalize across different sampling intervals. Third, extracting road conditions for missing points is non-trivial. To address these challenges, we propose $\textit{PLMTrajRec}$, a novel trajectory recovery model. It leverages the scalability of a pre-trained language model (PLM) and can effectively recover trajectories by fine-tuning with small-scale dense trajectory datasets. To handle different sampling intervals in sparse trajectories, we first convert sampling intervals and movement features into prompts for the PLM to understand. We then introduce a trajectory encoder to unify trajectories of varying intervals into a single interval. To extract road conditions for missing points, we propose an area flow-guided implicit trajectory prompt that represents traffic conditions in each region, and a road condition passing mechanism that infers the road conditions of missing points using the observed ones. Experiments on four public trajectory datasets with three sampling intervals demonstrate the effectiveness, scalability, and generalization ability of PLMTrajRec. Code is available at https://github.com/wtl52656/PLMTrajRec.

Vehicle GPS trajectories provide valuable movement information that supports various downstream tasks and applications. A desirable trajectory learning model should be able to transfer across regions and tasks without retraining, avoiding the need to maintain multiple specialized models and subpar performance with limited training data. However, each region has its unique spatial features and contexts, which are reflected in vehicle movement patterns and are difficult to generalize. Additionally, transferring across different tasks faces technical challenges due to the varying input-output structures required for each task. Existing efforts towards transferability primarily involve learning embedding vectors for trajectories, which perform poorly in region transfer and require retraining of prediction modules for task transfer. To address these challenges, we propose $\textit{TransferTraj}$, a vehicle GPS trajectory learning model that excels in both region and task transferability. For region transferability, we introduce RTTE as the main learnable module within TransferTraj. It integrates spatial, temporal, POI, and road network modalities of trajectories to effectively manage variations in spatial context distribution across regions. It also introduces a TRIE module for incorporating relative information of spatial features and a spatial context MoE module for handling movement patterns in diverse contexts. For task transferability, we propose a task-transferable input-output scheme that unifies the input-output structure of different tasks into the masking and recovery of modalities and trajectory points. This approach allows TransferTraj to be pre-trained once and transferred to different tasks without retraining. We conduct extensive experiments on three real-world vehicle trajectory datasets under various transfer settings, including task transfer, zero-shot region transfer, and few-shot region transfer. Experimental results demonstrate that TransferTraj significantly outperforms state-of-the-art baselines in different scenarios, validating its effectiveness in region and task transfer. Code is available at https://github.com/wtl52656/TransferTraj.

Time Series Forecasting has made significant progress with the help of Patching technique, which partitions time series into multiple patches to effectively retain contextual semantic information into a representation space beneficial for modeling long-term dependencies. However, conventional patching partitions a time series into adjacent patches, which causes a fixed representation space, thus resulting in insufficiently expressful representations. In this paper, we pioneer the exploration of constructing a selective representation space to flexibly include the most informative patches for forecasting. Specifically, we propose the Selective Representation Space (SRS) module, which utilizes the learnable Selective Patching and Dynamic Reassembly techniques to adaptively select and shuffle the patches from the contextual time series, aiming at fully exploiting the information of contextual time series to enhance the forecasting performance of patch-based models. To demonstrate the effectiveness of SRS module, we propose a simple yet effective SRSNet consisting of SRS and an MLP head, which achieves state-of-the-art performance on real-world datasets from multiple domains. Furthermore, as a novel plug-and-play module, SRS can also enhance the performance of existing patch-based models. The resources are available at https://github.com/decisionintelligence/SRSNet.

The advancement of intelligent transportation systems has led to a growing demand for accurate path representations, which are essential for tasks such as travel time estimation, path ranking, and trajectory analysis. However, traditional path representation learning (PRL) methods often focus solely on single-modal road network data, overlooking important physical and regional factors that influence real-world traffic dynamics. To overcome this limitation, we introduce Path-LLM, a multi-modal path representation learning model that integrates large language models (LLMs) into PRL. Our approach leverages LLMs to interpret both topological and textual data, enabling robust multi-modal path representations. To effectively align and merge these modalities, we propose TPalign, a contrastive learning-based pretraining strategy that ensures alignment within the embedding space. We then present TPfusion, a multimodal fusion module that dynamically adjusts the weight of each modality before integration. To further optimize LLM training, we introduce a Two-stage Overlapping Curriculum Learning (TOCL) approach, which progressively increases the complexity of the training data. Finally, we evaluate Path-LLM on three real-world datasets across traditional PRL downstream tasks, achieving up to a 61.84% improvement in path ranking performance on the Xi'an dataset. Additionally, Path-LLM demonstrates superior performance in both few-shot and zero-shot learning scenarios. Our code is available at: https://github.com/decisionintelligence/Path-LLM.

Time series anomaly detection (TSAD) plays an important role in many domains such as finance, transportation, and healthcare. With the ongoing instrumentation of reality, more time series data will be available, leading also to growing demands for TSAD. While many TSAD methods already exist, new and better methods are still desirable. However, effective progress hinges on the availability of reliable means of evaluating new methods and comparing them with existing methods. We address deficiencies in current evaluation procedures related to datasets and experimental settings and protocols. Specifically, we propose a new time series anomaly detection benchmark, called TAB. First, TAB encompasses 29 public multivariate datasets and 1,635 univariate time series from different domains to facilitate more comprehensive evaluations on diverse datasets. Second, TAB covers a variety of TSAD methods, including Non-learning, Machine learning, Deep learning, LLM-based, and Time-series pre-trained methods. Third, TAB features a unified and automated evaluation pipeline that enables fair and easy evaluation of TSAD methods. Finally, we employ TAB to evaluate existing TSAD methods and report on the outcomes, thereby offering a deeper insight into the performance of these methods.

Trusted Execution Environment (TEE) provides isolation for sensitive data in electronic devices and its compromise can lead to enormous losses. TEE's information-flow security is essential and can be robustly ensured by formal methods. Nevertheless, the cross-domain API invocation of TEE is intricate for information-flow analysis, and the service provider on the TEE, i.e., trusted application, brings complexity to the TEE specification and verification. Existing research seldom delves into general TEEs that are compliant with GlobalPlatform (GP), which is an important and universal TEE standard. Furthermore, they do not align with the requirements for Common Criteria certification. In this paper, we propose a TEE-applicable and Common Criteria-oriented framework to specify and verify the information-flow security of GP TEE, which is applied to the verification of the real-world commercial MiTEE. Firstly, we present a framework for TEE that aligns with the requirements of Common Criteria's highest assurance level (EAL 7). It incorporates a domainswitch based mechanism to model the cross-domain TEE API invocation and a parameterized modeling approach to handle trusted applications. Secondly, we model GlobalPlatform-compliant TEE with the framework as GP TEE security model layer and function layer, which are reusable for all GP TEEs. Thirdly, we specify MiTEE as the MiTEE design layer that refines GP TEE model. Lastly, we verify the information-flow security of GP TEE and MiTEE via theorem proving and uncover four critical vulnerabilities in MiTEE. This work contributes to MiTEE's acquirement of an EAL 5+ certificate. All works are carried out in Isabelle/HOL, with nearly 32000 lines of code.

Analyzing and comprehending check-in sequences is crucial for various applications in smart cities. However, publicly available check-in datasets are often limited in scale due to privacy concerns. This poses a significant obstacle to academic research and downstream applications. Thus, it is urgent to generate realistic check-in datasets. The denoising diffusion probabilistic model (DDPM) as one of the most capable generation methods is a good choice to achieve this goal. However, generating check-in sequences using DDPM is not an easy feat. The difficulties lie in handling check-in sequences of variable lengths and capturing the correlation from check-in sequences' distinct characteristics. This paper addresses the challenges by proposing a Spatio-Temporal Contrastive Diffusion Model (STCDM). This model introduces a novel spatio-temporal lossless encoding method that effectively encodes check-in sequences into a suitable format with equal length. Furthermore, we capture the spatio-temporal correlations with two disentangled diffusion modules to reduce the impact of the difference between spatial and temporal characteristics. Finally, we incorporate contrastive learning to enhance the relationship between diffusion modules. We generate four realistic datasets in different scenarios using STCDM and design four metrics for comparison. Experiments demonstrate that our generated datasets are more realistic and free of privacy leakage.

Vehicle movement is frequently captured in the form of GPS trajectories, i.e., sequences of timestamped GPS locations. Such data is widely used for various tasks such as travel-time estimation, trajectory recovery, and trajectory prediction. A universal vehicle trajectory model could be applied to different tasks, removing the need to maintain multiple specialized models, thereby reducing computational and storage costs. However, creating such a model is challenging when the integrity of trajectory features is compromised, i.e., in scenarios where only partial features are available or the trajectories are sparse. To address these challenges, we propose the Universal Vehicle Trajectory Model (UVTM), which can effectively adapt to different tasks without excessive retraining. UVTM incorporates two specialized designs. First, it divides trajectory features into three distinct domains. Each domain can be masked and generated independently to accommodate tasks with only partially available features. Second, UVTM is pre-trained by reconstructing dense, feature-complete trajectories from sparse, feature-incomplete counterparts, enabling strong performance even when the integrity of trajectory features is compromised. Experiments involving four representative trajectory-related tasks on three real-world vehicle trajectory datasets provide insight into the performance of UVTM and offer evidence that it is capable of meeting its objectives.

Significant wave height (SWH) is a vital metric in marine science, and accurate SWH estimation is crucial for various applications, e.g., marine energy development, fishery, early warning systems for potential risks, etc. Traditional SWH estimation methods that are based on numerical models and physical theories are hindered by computational inefficiencies. Recently, machine learning has emerged as an appealing alternative to improve accuracy and reduce computational time. However, due to limited observational technology and high costs, the scarcity of real-world data restricts the potential of machine learning models. To overcome these limitations, we propose an ocean SWH estimation framework, namely Orca. Specifically, Orca enhances the limited spatio-temporal reasoning abilities of classic LLMs with a novel spatiotemporal aware encoding module. By segmenting the limited buoy observational data temporally, encoding the buoys' locations spatially, and designing prompt templates, Orca capitalizes on the robust generalization ability of LLMs to estimate significant wave height effectively with limited data. Experimental results on the Gulf of Mexico demonstrate that Orca achieves state-of-the-art performance in SWH estimation.

The unprecedented availability of new types of data coupled with the invention of new technologies combine to enable entirely new or higher-resolution services that in turn enable more rational and data-driven processes. We consider the overall process of vehicular transportation and, more specifically, the process of deciding which route to follow when having to reach a destination. Early solutions modeled a road work as a graph, used sparse in-road sensor data to assign weights to graph edges, and then applied improved versions of Dijkstra's algorithm to find routes with the lowest sums of edge weights. Since then, massive vehicle trajectory data has become available. When coupled with new technologies, this data enables entirely new and higher-resolution routing services that in turn enable better routing. For more than a decade, the authors have engaged in research aimed at exploiting trajectory data to enable better routing. The resulting technologies were developed outside a DBMS. Here, we cover aspects of this research. Further, we challenge the community to develop DBMS support for these and other aspects of routing.

Spatio-temporal forecasting of future values of spatially correlated time series is important across many cyber-physical systems (CPS). Recent studies offer evidence that the use of graph neural networks to capture latent correlations between time series holds a potential for enhanced forecasting. However, most existing methods rely on predefined or self-learning graphs, which are either static or unintentionally dynamic, and thus cannot model the time-varying correlations that exhibit trends and periodicities caused by the regularity of the underlying processes in CPS. To tackle such limitation, we propose Time-aware Graph Structure Learning (TagSL), which extracts time-aware correlations among time series by measuring the interaction of node and time representations in high-dimensional spaces. Notably, we introduce time discrepancy learning that utilizes contrastive learning with distance-based regularization terms to constrain learned spatial correlations to a trend sequence. Additionally, we propose a periodic discriminant function to enable the capture of periodic changes from the state of nodes. Next, we present a Graph Convolution-based Gated Recurrent Unit (GCGRU) that jointly captures spatial and temporal dependencies while learning time-aware and node-specific patterns. Finally, we introduce a unified framework named Time-aware Graph Convolutional Recurrent Network (TGCRN), combining TagSL, and GCGRU in an encoder-decoder architecture for multi-step spatiotemporal forecasting. We report on experiments with TGCRN and popular existing approaches on five real-world datasets, thus providing evidence that TGCRN is capable of advancing the state-of-the-art. We also cover a detailed ablation study and visualization analysis, offering detailed insight into the effectiveness of time-aware structure learning.

Time series are generated in diverse domains such as economic, traffic, health, and energy, where forecasting of future values has numerous important applications. Not surprisingly, many forecasting methods are being proposed. To ensure progress, it is essential to be able to study and compare such methods empirically in a comprehensive and reliable manner. To achieve this, we propose TFB, an automated benchmark for Time Series Forecasting (TSF) methods. TFB advances the state-of-the-art by addressing shortcomings related to datasets, comparison methods, and evaluation pipelines: 1) insufficient coverage of data domains, 2) stereotype bias against traditional methods, and 3) inconsistent and inflexible pipelines. To achieve better domain coverage, we include datasets from 10 different domains : traffic, electricity, energy, the environment, nature, economic, stock markets, banking, health, and the web. We also provide a time series characterization to ensure that the selected datasets are comprehensive. To remove biases against some methods, we include a diverse range of methods, including statistical learning, machine learning, and deep learning methods, and we also support a variety of evaluation strategies and metrics to ensure a more comprehensive evaluations of different methods. To support the integration of different methods into the benchmark and enable fair comparisons, TFB features a flexible and scalable pipeline that eliminates biases. Next, we employ TFB to perform a thorough evaluation of 21 Univariate Time Series Forecasting (UTSF) methods on 8,068 univariate time series and 14 Multivariate Time Series Forecasting (MTSF) methods on 25 datasets. The results offer a deeper understanding of the forecasting methods, allowing us to better select the ones that are most suitable for particular datasets and settings. Overall, TFB and this evaluation provide researchers with improved means of designing new TSF methods.

The Trusted Execution Environment (TEE) plays a crucial role in modern computer systems and the compromise of TEE can result in enormous losses. Although numerous TEE products have been proposed, most of them lack robust security guarantees. To address this concern, GlobalPlatform (GP) defines the TEE security standard, Protection Profile (PP), which has gained widespread adoption in the TEE development and Common Criteria (CC) evaluation. However, despite its importance, GPTEE PP has never been formally specified and verified. In this paper, we present ProveriT , a parameterized, composable, and formally verified model of GPTEE PP. Firstly, we propose the first formal specification of GPTEE PP in a parameterized manner, encompassing the definition of security problems, security objectives, and security functional requirements. Secondly, we provide a compositional framework, utilizing horizontal calculus and vertical calculus, to flexibly combine specific security functional requirements for TEE developers and reduce proof efforts for verification. ProveriT is extensible and reusable for the verification and CC evaluation of specific TEE products. Thirdly, we conduct a comprehensive formal verification of rationales in the model to ensure the correctness of GPTEE PP. During the verification, 8 issues are discovered and we provide suggestions to resolve them. Finally, we demonstrate the extensibility and effectiveness of ProveriT by applying it to the verification of a commercial TEE. All the specifications and verification are carried out in the Isabelle/HOL theorem prover.

Spatio-temporal trajectories provide valuable information about movement and travel behavior, enabling various downstream tasks that in turn power real-world applications. Learning trajectory embeddings can improve task performance but may incur high computational costs and face limited training data availability. Pre-training learns generic embeddings by means of specially constructed pretext tasks that enable learning from unlabeled data. Existing pre-training methods face (i) difficulties in learning general embeddings due to biases towards certain downstream tasks incurred by the pretext tasks, (ii) limitations in capturing both travel semantics and spatio-temporal correlations, and (iii) the complexity of long, irregularly sampled trajectories. To tackle these challenges, we propose Maximum Multi-view Trajectory Entropy Coding (MMTEC) for learning general and comprehensive trajectory embeddings. We introduce a pretext task that reduces biases in pre-trained trajectory embeddings, yielding embeddings that are useful for a wide variety of downstream tasks. We also propose an attention-based discrete encoder and a NeuralCDE-based continuous encoder that extract and represent travel behavior and continuous spatio-temporal correlations from trajectories in embeddings, respectively. Extensive experiments on two real-world datasets and three downstream tasks offer insight into the design properties of our proposal and indicate that it is capable of outperforming existing trajectory embedding methods.

Few-shot object detection (FSOD), which detects novel objects with only a few training instances, has recently attracted more attention. Previous works focus on making the most use of label information of objects. Still, they fail to consider the structural and semantic information of the image itself and solve the misclassification between data-abundant base classes and data-scarce novel classes efficiently. In this article, we propose FSOD with Self-Supervising and Cooperative Classifier ( [Formula: see text]) approach to deal with those concerns. Specifically, we analyze the underlying performance degradation of novel classes in FSOD and discover that false-positive samples are the main reason. By looking into these false-positive samples, we further notice that misclassifying novel classes as base classes are the main cause. Thus, we introduce double RoI heads into the existing Fast-RCNN to learn more specific features for novel classes. We also consider using self-supervised learning (SSL) to learn more structural and semantic information. Finally, we propose a cooperative classifier (CC) with the base-novel regularization to maximize the interclass variance between base and novel classes. In the experiment, [Formula: see text] outperforms all the latest baselines in most cases on PASCAL VOC and COCO.

Virtual Private Cloud (VPC) has become a widely used cloud computing service, serving as a foundational web infrastructure for many organizations. Nevertheless, the growing problem of reachability issues poses significant threats to the security and reliability of VPC networks, potentially resulting in critical security concerns such as data breaches and service outages. Although there has been substantial progress in recent reachability analysis, existing methods lack validation of correctness. Moreover, current analyses are tailored for One-to-One reachability where both the source and the destination are fixed, and fail to efficiently answer One-to-Multi reachability queries, which involve computing all reachable destinations for a given source node. To address the above challenges, we propose VeriReach, the first formally verified algorithm that provides comprehensive and efficient reachability analysis in large-scale VPC networks. The reachability analysis result of VeriReach is proved to be equivalent to the original reachability semantics of the VPC networks, ensuring its correctness (i.e., soundness and completeness). The fine-grained formalization of VeriReach and its fully mechanized correctness proofs are carried out in Isabelle/HOL theorem prover with 282 lemmas/theorems and $\sim 4,900{\mathrm{LoC}}$. We further implement VeriReach in C++ and the evaluations indicate that VeriReach is more efficient and scalable than MonoSAT, the state-of-the-art SMT solver, when applied to large-scale VPC networks for reachability analysis.

Movement paths are used widely in intelligent transportation and smart city applications. To serve such applications, path representation learning aims to provide compact representations of paths that enable efficient and accurate operations when used for different downstream tasks such as path ranking and travel cost estimation. In many cases, it is attractive that the path representation learning is lightweight and scalable; in resource-limited environments and under green computing limitations, it is essential. Yet, existing path representation learning studies focus on accuracy and pay at most secondary attention to resource consumption and scalability. We propose a lightweight and scalable path representation learning framework, termed LightPath, that aims to reduce resource consumption and achieve scalability without affecting accuracy, thus enabling broader applicability. More specifically, we first propose a sparse auto-encoder that ensures that the framework achieves good scalability with respect to path length. Next, we propose a relational reasoning framework to enable faster training of more robust sparse path encoders. We also propose global-local knowledge distillation to further reduce the size and improve the performance of sparse path encoders. Finally, we report extensive experiments on two real-world datasets to offer insight into the efficiency, scalability, and effectiveness of the proposed framework.

Given an origin (O), a destination (D), and a departure time (T), an Origin-Destination (OD) travel time oracle~(ODT-Oracle) returns an estimate of the time it takes to travel from O to D when departing at T. ODT-Oracles serve important purposes in map-based services. To enable the construction of such oracles, we provide a travel-time estimation (TTE) solution that leverages historical trajectories to estimate time-varying travel times for OD pairs. The problem is complicated by the fact that multiple historical trajectories with different travel times may connect an OD pair, while trajectories may vary from one another. To solve the problem, it is crucial to remove outlier trajectories when doing travel time estimation for future queries. We propose a novel, two-stage framework called Diffusion-based Origin-destination Travel Time Estimation (DOT), that solves the problem. First, DOT employs a conditioned Pixelated Trajectories (PiT) denoiser that enables building a diffusion-based PiT inference process by learning correlations between OD pairs and historical trajectories. Specifically, given an OD pair and a departure time, we aim to infer a PiT. Next, DOT encompasses a Masked Vision Transformer~(MViT) that effectively and efficiently estimates a travel time based on the inferred PiT. We report on extensive experiments on two real-world datasets that offer evidence that DOT is capable of outperforming baseline methods in terms of accuracy, scalability, and explainability.

Recent neural architectures in sequence labeling have yielded state-of-the-art performance on single domain data such as newswires. However, they still suffer from (i) requiring massive amounts of training data to avoid overfitting; (ii) huge performance degradation when there is a domain shift in the data distribution between training and testing. In this paper, we investigate the problem of domain adaptation for sequence labeling under homogeneous and heterogeneous settings. We propose MetaSeq, a novel meta-learning approach for domain adaptation in sequence labeling. Specifically, MetaSeq incorporates meta-learning and adversarial training strategies to encourage robust, general and transferable representations for sequence labeling. The key advantage of MetaSeq is that it is capable of adapting to new unseen domains with a small amount of annotated data from those domains. We extensively evaluate MetaSeq on named entity recognition, part-of-speech tagging and slot filling tasks under homogeneous and heterogeneous settings. The experimental results show that MetaSeq achieves state-of-the-art performance against eight baselines. Impressively, MetaSeq surpasses the in-domain performance using only 16.17% and 7% of target domain data on average for homogeneous settings, and 34.76%, 24%, 22.5% of target domain data on average for heterogeneous settings.

PM$_{2.5}$concentration forecasting is important yet challenging. First, complicated local fluctuations in PM$_{2.5}$concentrations disturb modeling global trends. Second, forecasting errors are often accumulated through an autoregressive process. To contend with the two challenges, we propose aCategoryGuidance based PM${_{2.5}}$sequenceForecasting training framework (CGF) to enhance the performance of existing PM${_{2.5}}$concentration forecasting models. CGF contains a Category based Representation Learning (CRL) module and a Category based Self-paced Learning (CSL) module, both of which utilize PM${_{2.5}}$category information that is easily obtained and publicly available. First, CRL employs category information to guide forecasting models to produce more robust hidden representations that are insensitive to local fluctuations, thus alleviating the negative impact of local fluctuations. Second, CSL adaptively selects real PM${_{2.5}}$concentration values versus autoregressive PM${_{2.5}}$forecast values when training forecasting models, helping alleviate error accumulations. The CGF framework is applied to existing PM${_{2.5}}$forecasting models, and the experimental results on two real-world datasets demonstrate that CGF is able to consistently improve the accuracy of existing forecasting models. Furthermore, to validate the generality of CGF, we conduct extensional experiments in two other time-series prediction tasks, including exchange rate forecasting and electricity forecasting. The experimental results also verify the effectiveness of CGF.

We consider a setting with an evolving set of requests for transportation from an origin to a destination before a deadline and a set of agents capable of servicing the requests. In this setting, an assignment authority is to assign agents to requests such that the average idle time of the agents is minimized. An example is the scheduling of taxis (agents) to meet incoming passenger requests for trips while ensuring that the taxis are empty as little as possible. In this paper, we study the problem of spatial-temporal demand forecasting and competitive supply (SOUP). We address the problem in two steps. First, we build a granular model that provides spatial-temporal predictions of requests. Specifically, we propose a Spatial-Temporal Graph Convolutional Sequential Learning (ST-GCSL) model that predicts the requests across locations and time slots. Second, we provide means of routing agents to request origins while avoiding competition among the agents. In particular, we develop a demand-aware route planning (DROP) algorithm that considers both the spatial-temporal predictions and the supply-demand state. We report on extensive experiments with real-world data that offer insight into the performance of the solution and show that it is capable of outperforming the state-of-the-art proposals.

Hamiltonian systems represent an important class of dynamical systems such as pendulums, molecular dynamics, and cosmic systems. The choice of solvers is significant to the accuracy when simulating Hamiltonian systems, where symplectic solvers show great significance. Recent advances in neural network-based hypersolvers, though achieve competitive results, still lack the symplecity necessary for reliable simulations, especially over long time horizons. To alleviate this, we introduce Hyperverlet, a new hypersolver composing the traditional, symplectic velocity Verlet and symplectic neural network-based solvers. More specifically, we propose a parameterization of symplectic neural networks and prove that hyperbolic tangent is r-finite expanding the set of allowable activation functions for symplectic neural networks, improving the accuracy. Extensive experiments on a spring-mass and a pendulum system justify the design choices and suggest that Hyperverlet outperforms both traditional solvers and hypersolvers.

Differentiable Architecture Search (DARTS) has received massive attention in recent years, mainly because it significantly reduces the computational cost through weight sharing and continuous relaxation. However, more recent works find that existing differentiable NAS techniques struggle to outperform naive baselines, yielding deteriorative architectures as the search proceeds. Rather than directly optimizing the architecture parameters, this paper formulates the neural architecture search as a distribution learning problem through relaxing the architecture weights into Gaussian distributions. By leveraging the natural-gradient variational inference (NGVI), the architecture distribution can be easily optimized based on existing codebases without incurring more memory and computational consumption. We demonstrate how the differentiable NAS benefits from Bayesian principles, enhancing exploration and improving stability. The experimental results on NAS benchmark datasets confirm the significant improvements the proposed framework can make. In addition, instead of simply applying the argmax on the learned parameters, we further leverage the recently-proposed training-free proxies in NAS to select the optimal architecture from a group architectures drawn from the optimized distribution, where we achieve state-of-the-art results on the NAS-Bench-201 and NAS-Bench-1shot1 benchmarks. Our best architecture in the DARTS search space also obtains competitive test errors with 2.37%, 15.72%, and 24.2% on CIFAR-10, CIFAR-100, and ImageNet, respectively.

The widespread deployment of smartphones, net-worked in-vehicle devices with geo-positioning capabilities, and vessel tracking technologies renders it feasible to collect the evolving geo-locations of populations of land- and sea-based moving objects. The continuous clustering of such data can enable a variety of real-time services, such as road traffic management and vessel collision risk assessment. However, little attention has so far been given to the quality of moving-object clusters-for example, it is beneficial to smooth short-term fluctuations in clusters to achieve robustness to exceptional data and to improve existing applications. We propose the notion of evolutionary clustering of moving objects, abbreviated ECM, that enhances the quality of moving object clustering by means of temporal smoothing that prevents abrupt changes in clusters across successive timestamps. Employing the notions of snapshot and historical costs, we formalize ECM and formulate ECM as an optimization problem. We prove that ECM can be performed approximately in linear time, thus eliminating iterative processes employed in previous studies. Further, we propose a minimal-group structure and a seed-point shifting strategy to facilitate temporal smoothing. Finally, we present all algorithms underlying ECM along with a set of optimization techniques. Extensive experiments with three real-life datasets offer insights into ECM and show that it outperforms state-of-the-art solutions in terms of both clustering quality and clustering efficiency.

In step with the digitalization of transportation, we are witnessing a growing range of path-based smart-city applications, e.g., travel-time estimation and travel path ranking. A temporal path (TP) that includes temporal information, e.g., departure time, into the path is of fundamental to enable such applications. In this setting, it is essential to learn generic temporal path representations (TPRs) that consider spatial and temporal correlations simultaneously and that can be used in different applications, i.e., downstream tasks. Existing methods fail to achieve the goal since (i) supervised methods require large amounts of task-specific labels when training and thus fail to generalize the obtained TPRs to other tasks; (ii) though unsupervised methods can learn generic representations, they disregard the temporal aspect, leading to sub-optimal results. To contend with the limitations of existing solutions, we propose a Weakly-Supervised Contrastive learning model. We first propose a temporal path encoder that encodes both the spatial and temporal information of a temporal path into a TPR. To train the encoder, we introduce weak labels that are easy and inexpensive to obtain, and are relevant to different tasks, e.g., temporal labels indicating peak vs. off-peak hour from departure times. Based on the weak labels, we construct meaningful positive and negative temporal path samples by considering both spatial and temporal information, which facilities training the encoder using contrastive learning by pulling closer the positive samples' representations while pushing away the negative samples' representations. To better guide the contrastive learning, we propose a learning strategy based on Curriculum Learning such that the learning performs from easy to hard training instances. Experimental studies involving three downstream tasks, i.e., travel time estimation, path ranking, and path recommendation, on three road networks offer strong evidence that the proposal is superior to state-of-the-art unsupervised and supervised methods and that it can be used as a pre-training approach to enhance supervised TPR learning.

Path representations are critical in a variety of transportation applications, such as estimating path ranking in path recommendation systems and estimating path travel time in navigation systems. Existing studies often learn task-specific path representations in a supervised manner, which require a large amount of labeled training data and generalize poorly to other tasks. We propose an unsupervised learning framework Path InfoMax (PIM) to learn generic path representations that work for different downstream tasks. We first propose a curriculum negative sampling method, for each input path, to generate a small amount of negative paths, by following the principles of curriculum learning. Next, PIM employs mutual information maximization to learn path representations from both a global and a local view. In the global view, PIM distinguishes the representations of the input paths from those of the negative paths. In the local view, PIM distinguishes the input path representations from the representations of the nodes that appear only in the negative paths. This enables the learned path representations encode both global and local information at different scales. Extensive experiments on two downstream tasks, ranking score estimation and travel time estimation, using two road network datasets suggest that PIM significantly outperforms other unsupervised methods and is also able to be used as a pre-training method to enhance supervised path representation learning.

Origin-destination (OD) matrices are used widely in transportation and logistics to record the travel cost (e.g., travel speed or greenhouse gas emission) between pairs of OD regions during different intervals within a day. We model a travel cost as a distribution because when traveling between a pair of OD regions, different vehicles may travel at different speeds even during the same interval, e.g., due to different driving styles or different waiting times at intersections. This yields stochastic OD matrices. We consider an increasingly pertinent setting where a set of vehicle trips is used for instantiating OD matrices. Since the trips may not cover all OD pairs for each interval, the resulting OD matrices are likely to be sparse. We then address the problem of forecasting complete, near future OD matrices from sparse, historical OD matrices. To solve this problem, we propose a generic learning framework that (i) employs matrix factorization and graph convolutional neural networks to contend with the data sparseness while capturing spatial correlations and that (ii) captures spatio-temporal dynamics via recurrent neural networks extended with graph convolutions. Empirical studies using two taxi trajectory data sets offer detailed insight into the properties of the framework and indicate that it is effective.

Innovations in transportation, such as mobility-on-demand services and autonomous driving, call for high-resolution routing that relies on an accurate representation of travel time throughout the underlying road network. Specifically, the travel time of a road-network edge is modeled as a time-varying distribution that captures the variability of traffic over time and the fact that different drivers may traverse the same edge at the same time at different speeds. Such stochastic weights may be extracted from data sources such as GPS and loop detector data. However, even very large data sources are incapable of covering all edges of a road network at all times. Yet, high-resolution routing needs stochastic weights for all edges. We solve the problem of filling in the missing weights. To achieve that, we provide techniques capable of estimating stochastic edge weights for all edges from traffic data that covers only a fraction of all edges. We propose a generic learning framework called Graph Convolutional Weight Completion (GCWC) that exploits the topology of a road network graph and the correlations of weights among adjacent edges to estimate stochastic weights for all edges. Next, we incorporate contextual information into GCWC to further improve accuracy. Empirical studies using loop detector data from a highway toll gate network and GPS data from a large city offer insight into the design properties of GCWC and its effectiveness.

Motivated by the increasing availability of vehicle trajectory data, we propose learn-to-route, a comprehensive trajectory-based routing solution. Specifically, we first construct a graph-like structure from trajectories as the routing infrastructure. Second, we enable trajectory-based routing given an arbitrary (source, destination) pair. In the first step, given a road network and a collection of trajectories, we propose a trajectory-based clustering method that identifies regions in a road network. If a pair of regions are connected by trajectories, we maintain the paths used by these trajectories and learn a routing preference for travel between the regions. As trajectories are skewed and sparse, %and although the introduction of regions serves to consolidate the sparse data, many region pairs are not connected by trajectories. We thus transfer routing preferences from region pairs with sufficient trajectories to such region pairs and then use the transferred preferences to identify paths between the regions. In the second step, we exploit the above graph-like structure to achieve a comprehensive trajectory-based routing solution. Empirical studies with two substantial trajectory data sets offer insight into the proposed solution, indicating that it is practical. A comparison with a leading routing service offers evidence that the paper's proposal is able to enhance routing quality.

Today's one-size-fits-all approach to travel-time computation in spatial networks proceeds in two steps. In a preparatory off-line step, a set of distributions, e.g., one per hour of the day, is computed for each network segment. Then, when a path and a departure time are provided, a distribution for the path is computed on-line from pertinent pre-computed distributions. Motivated by the availability of massive trajectory data from vehicles, we propose a completely on-line approach, where distributions are computed from trajectories on-the-fly, i.e., when a query arrives. This new approach makes it possible to use arbitrary sets of underlying trajectories for a query. Specifically, we study the potential for accuracy improvements over the one-size-fits-all approach that can be obtained using the on-the-fly approach and report findings from an empirical study that suggest that the on-the-fly approach is able to improve accuracy significantly and has the potential to replace the current one-size-fits-all approach.

With the growing volumes of vehicle trajectory data, it becomes increasingly possible to capture time-varying and uncertain travel costs in a road network, including travel time and fuel consumption. The current paradigm represents a road network as a weighted graph; it blasts trajectories into small fragments that fit the under-lying edges to assign weights to edges; and it then applies a routing algorithm to the resulting graph. We propose a new paradigm, the hybrid graph , that targets more accurate and more efficient path cost distribution estimation. The new paradigm avoids blasting trajectories into small fragments and instead assigns weights to paths rather than simply to the edges. We show how to compute path weights using trajectory data while taking into account the travel cost dependencies among the edges in the paths. Given a departure time and a query path, we show how to select an optimal set of weights with associated paths that cover the query path and such that the weights enable the most accurate joint cost distribution estimation for the query path. The cost distribution of the query path is then computed accurately using the joint distribution. Finally, we show how the resulting method for computing cost distributions of paths can be integrated into existing routing algorithms. Empirical studies with substantial trajectory data from two different cities offer insight into the design properties of the proposed method and confirm that the method is effective in real-world settings.