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We introduce Toto, a time series forecasting foundation model with 151 million parameters. Toto uses a modern decoder-only architecture coupled with architectural innovations designed to account for specific challenges found in multivariate…

Large time series models (LTMs) have emerged as powerful tools for universal forecasting, yet they often struggle with the inherent diversity and nonstationarity of real-world time series data, leading to an unsatisfactory trade-off between…

Machine Learning · Computer Science 2026-03-03 Yunzhong Qiu , Zhiyao Cen , Zhongyi Pei , Chen Wang , Jianmin Wang

We show that time series foundation models scale: a single training recipe produces reliable forecast-quality improvements from 4M to 2.5B parameters. We release Toto 2.0, a family of five open-weights forecasting models trained under this…

The past decade has witnessed significant advances in time series modeling with deep learning. While achieving state-of-the-art results, the best-performing architectures vary highly across applications and domains. Meanwhile, for natural…

Machine Learning · Computer Science 2024-04-03 Defu Cao , Furong Jia , Sercan O Arik , Tomas Pfister , Yixiang Zheng , Wen Ye , Yan Liu

Test time adaptation (TTA) has emerged as a promising solution to adapt pre-trained models to new, unseen data distributions using unlabeled target domain data. However, most TTA methods are designed for independent data, often overlooking…

Machine Learning · Computer Science 2026-01-21 Ting Dang , Soumyajit Chatterjee , Hong Jia , Yu Wu , Flora Salim , Fahim Kawsar

We present TimeFound, an encoder-decoder transformer-based time series foundation model for out-of-the-box zero-shot forecasting. To handle time series data from various domains, TimeFound employs a multi-resolution patching strategy to…

Machine Learning · Computer Science 2025-03-07 Congxi Xiao , Jingbo Zhou , Yixiong Xiao , Xinjiang Lu , Le Zhang , Hui Xiong

In this paper, we introduce TimeGPT, the first foundation model for time series, capable of generating accurate predictions for diverse datasets not seen during training. We evaluate our pre-trained model against established statistical,…

Machine Learning · Computer Science 2024-05-29 Azul Garza , Cristian Challu , Max Mergenthaler-Canseco

This work studies the problem of time series analysis with generalist (or foundation) models, which are models trained across many data domains. Drawing inspiration from the widespread success of large language models, we consider the…

Machine Learning · Computer Science 2025-01-03 Sabera Talukder , Yisong Yue , Georgia Gkioxari

Transformer-based models for time series forecasting (TSF) have attracted significant attention in recent years due to their effectiveness and versatility. However, these models often require extensive hyperparameter optimization (HPO) to…

Machine Learning · Computer Science 2025-01-03 Jingjing Xu , Caesar Wu , Yuan-Fang Li , Grégoire Danoy , Pascal Bouvry

Time series forecasting underpins vital decision-making across various sectors, yet raw predictions from sophisticated models often harbor systematic errors and biases. We examine the Forecast-Then-Optimize (FTO) framework, pioneering its…

Machine Learning · Computer Science 2025-06-17 Jinhang Jiang , Nan Wu , Ben Liu , Mei Feng , Xin Ji , Karthik Srinivasan

Transformers have demonstrated impressive strength in long-term series forecasting. Existing prediction research mostly focused on mapping past short sub-series (lookback window) to future series (forecast window). The longer training…

Machine Learning · Computer Science 2023-02-22 Julong Young , Junhui Chen , Feihu Huang , Jian Peng

We introduce the Cisco Time Series Model, a univariate zero-shot forecaster. This time series foundation model is the result of a general architectural innovation to a time series model enabling it to accept multiresolution input, applied…

Accurate forecasting of electric load and renewable generation is essential for reliable and cost effective power system operations. Recent advances in transformer based and foundation machine learning models, driven by large scale…

Systems and Control · Electrical Eng. & Systems 2026-04-27 Muhy Eddin Za'ter , Bri-Mathias Hodge

The recent boom of large pre-trained models witnesses remarkable success in developing foundation models (FMs) for time series forecasting. Despite impressive performance across diverse downstream forecasting tasks, existing time series FMs…

Machine Learning · Computer Science 2025-10-23 Hui He , Kun Yi , Yuanchi Ma , Qi Zhang , Zhendong Niu , Guansong Pang

Tracking transforming objects holds significant importance in various fields due to the dynamic nature of many real-world scenarios. By enabling systems accurately represent transforming objects over time, tracking transforming objects…

Computer Vision and Pattern Recognition · Computer Science 2024-07-09 You Wu , Yuelong Wang , Yaxin Liao , Fuliang Wu , Hengzhou Ye , Shuiwang Li

Learning time series foundation models has been shown to be a promising approach for zero-shot time series forecasting across diverse time series domains. Insofar as scaling has been a critical driver of performance of foundation models in…

Machine Learning · Computer Science 2026-02-20 Xinghong Fu , Yanhong Li , Georgios Papaioannou , Yoon Kim

The recent surge in foundation models for natural language processing and computer vision has fueled innovation across various domains. Inspired by this progress, we explore the potential of foundation models for time-series forecasting in…

Machine Learning · Computer Science 2024-08-12 Boje Deforce , Bart Baesens , Estefanía Serral Asensio

Foundation Models are designed to serve as versatile embedding machines, with strong zero shot capabilities and superior generalization performance when fine-tuned on diverse downstream tasks. While this is largely true for language and…

Machine Learning · Computer Science 2025-10-08 Nouha Karaouli , Denis Coquenet , Elisa Fromont , Martial Mermillod , Marina Reyboz

Time series foundation models (TSFMs) offer strong zero-shot forecasting via large-scale pre-training, yet fine-tuning remains critical for boosting performance in domains with limited public data. With the growing number of TSFMs,…

Machine Learning · Computer Science 2025-09-30 Qingren Yao , Ming Jin , Chengqi Zhang , Chao-Han Huck Yang , Jun Qi , Shirui Pan

The Transformer is a highly successful deep learning model that has revolutionised the world of artificial neural networks, first in natural language processing and later in computer vision. This model is based on the attention mechanism…

Machine Learning · Computer Science 2023-05-09 Riccardo Ughi , Eugenio Lomurno , Matteo Matteucci
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