Most-Recent Anchoring with Recurrent Ordering for Time Series Forecasting
Organizations: VWFS Data Analytics Research Center (VWFS-DARC), Hildesheim, Germany
Abstract
Long-term forecasting models commonly process all patches in a look-back window using the same fixed stack. Older contextual patches and recent evidence therefore receive the same computational depth. Yet the information closest to the forecast and the more distant context do not contribute equally. Uniform processing leaves this distinction unexpressed in the architecture. We propose MARO, a Most-Recent Anchoring with Recurrent Ordering model that processes the look-back window from the most recent patch to the oldest. The most recent patch serves as the anchor. It initializes the latent state and conditions each subsequent step, so older patches are folded into a representation that remains centered on recent evidence. A single shared module is reused at every step, so extending the scan further into the past introduces no additional parameters. Intermediate states retained during the scan allow the forecast head to weigh short and long portions of the history separately. This expresses recency through the order of recurrent refinement. Extensive experiments across multiple real-world time series datasets show that MARO achieves state-of-the-art performance on both long-term and short-term forecasting tasks.Ablation studies examine the contribution of the main architectural components.
Figures & tables
| MARO (Ours) | SRSNet | TimeKAN | Amplifier | iTransformer | TimeMixer | PatchTST | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Dataset | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE |
| ETT (Avg) | 0.329 | 0.372 | 0.335 | 0.375 | 0.340 | 0.380 | 0.346 | 0.383 | 0.351 | 0.384 | 0.346 | 0.383 | 0.343 | 0.381 |
| Weather | 0.223 | 0.261 | 0.225 | 0.265 | 0.226 | 0.269 | 0.223 | 0.263 | 0.230 | 0.269 | 0.225 | 0.262 | 0.223 | 0.262 |
| Electricity | 0.155 | 0.252 | 0.160 | 0.254 | 0.163 | 0.257 | 0.162 | 0.255 | 0.162 | 0.258 | 0.184 | 0.281 | 0.170 | 0.270 |
| Traffic | 0.372 | 0.265 | 0.391 | 0.270 | 0.419 | 0.285 | 0.412 | 0.290 | 0.397 | 0.280 | 0.409 | 0.278 | 0.396 | 0.275 |
| Solar | 0.186 | 0.245 | 0.183 | 0.238 | 0.198 | 0.263 | 0.202 | 0.281 | 0.201 | 0.260 | 0.203 | 0.260 | 0.200 | 0.284 |
| MARO (Ours) | CycleNet/MLP | iTransformer | SCINet | PatchTST | |||||||
| Dataset | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE | |
| PEMS03 | 12 | 0.064 | 0.168 | 0.066 | 0.172 | 0.071 | 0.174 | 0.066 | 0.172 | 0.099 | 0.216 |
| 24 | 0.083 | 0.190 | 0.089 | 0.201 | 0.093 | 0.201 | 0.085 | 0.198 | 0.142 | 0.259 | |
| 48 | 0.131 | 0.239 | 0.136 | 0.247 | 0.125 | 0.236 | 0.127 | 0.238 | 0.211 | 0.319 | |
| 96 | 0.188 | 0.298 | 0.182 | 0.282 | 0.164 | 0.275 | 0.178 | 0.287 | 0.269 | 0.370 | |
| PEMS04 | 12 | 0.075 | 0.179 | 0.078 | 0.186 | 0.078 | 0.183 | 0.073 | 0.177 | 0.105 | 0.224 |
| ETTh1 | ETTh2 | Weather | Electricity | |||||
|---|---|---|---|---|---|---|---|---|
| Variant | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE |
| Full MARO | 0.396 | 0.423 | 0.316 | 0.373 | 0.223 | 0.261 | 0.153 | 0.252 |
| w/o calendar | 0.406 | 0.432 | 0.333 | 0.381 | 0.223 | 0.263 | 0.161 | 0.255 |
| w/o channel mixing | 0.408 | 0.433 | 0.371 | 0.408 | 0.224 | 0.261 | 0.157 | 0.256 |
| w/o inter-patch mixer | 0.422 | 0.440 | 0.332 | 0.380 | 0.228 | 0.266 | 0.157 | 0.255 |
| w/o intra-patch mixer | 0.407 | 0.431 | 0.337 | 0.384 | 0.228 | 0.266 | 0.168 | 0.263 |
| Dataset | Recent-to-old (MARO) | Old-to-recent | |
|---|---|---|---|
| ETTh1 | 96 | 0.3554 | 0.3816 |
| 336 | 0.3959 | 0.3951 | |
| ETTm1 | 96 | 0.2842 | 0.3136 |
| 336 | 0.3599 | 0.3846 | |
| Weather | 96 | 0.1460 | 0.1558 |
| 336 | 0.2442 | 0.2592 |
Appendix figures & tables10 assets
Supplementary material from the paper’s appendix.
Appendix
| Dataset | Domain | Sampling | Split (train/val/test) | ||
| ETTh1 ( Zhou et al., 2021 ) | Transformer load | 7 | 17,420 | 1 hour | 8,640 / 2,880 / 2,880 |
| ETTh2 ( Zhou et al., 2021 ) | Transformer load | 7 | 17,420 | 1 hour | 8,640 / 2,880 / 2,880 |
| ETTm1 ( Zhou et al., 2021 ) | Transformer load | 7 | 69,680 | 15 min | 34,560 / 11,520 / 11,520 |
| ETTm2 ( Zhou et al., 2021 ) | Transformer load | 7 | 69,680 | 15 min | 34,560 / 11,520 / 11,520 |
| Weather ( Max Planck Institute for Biogeochemistry, 2024 ) | Meteorology | 21 | 52,696 | 10 min | 36,887 / 5,270 / 10,539 |
| Electricity ( Trindade, 2015 ) | Power demand | 321 | 26,304 | 1 hour | 18,412 / 2,632 / 5,260 |
| Dataset | Model | Params | FLOPs | FLOPs/ | Epoch | Latency | Memory |
| (M) | (G) | (G/ch.) | (s) | (ms/sample) | (MB) | ||
| ETTh1 ( , batch size 32) | |||||||
| DLinear | 0.10 | 0.001 | 0.0001 | 0.62 | 0.004 | 21 | |
| TimeKAN | 0.05 | 0.028 | 0.0040 | 7.54 | 0.338 | 423 | |
| iTransformer | 0.95 | 0.021 | 0.0030 | 1.64 | 0.024 | 47 | |
| PatchTST | 0.94 | 0.134 | 0.0191 | 1.91 | 0.052 | 162 | |
| Quantity | Symbol | Range or value |
|---|---|---|
| Learning rate | log-uniform, | |
| Look-back length | ||
| Token width | ||
| Inter-patch hidden width | ||
| Latent MLP layers | integer in | |
| Intra-patch MLP layers | integer in |
| Dataset | Dropout | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ETTh1 | 96 | 512 | 64 | 32 | 32 | 1024 | 1 | 1 | 1 | 0.014 | 256 | ||
| ETTh1 | 192 | 512 | 64 | 32 | 32 | 1024 | 1 | 4 | 0 | 0.082 | 0 | 256 | |
| ETTh1 | 336 | 512 | 144 | 108 | 64 | 64 | 1 | 1 | 2 | 0.129 | 256 | ||
| ETTh1 | 720 | 336 | 112 | 84 | 128 | 128 | 1 | 1 | 1 | 0.267 | 256 | ||
| ETTh2 | 96 | 512 | 32 | 16 | 32 | 512 | 4 | 1 | 3 | 0.320 | 0 | 256 | |
| ETTh2 | 192 | 512 | 128 | 64 | 32 | 1024 | 1 | 1 | 3 | 0.166 | 256 |
| Dataset | Dropout | init | init | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PEMS03 | 12 | 96 | 29 | 64 | 256 | 3 | 4 | 1 | 0.133 | 320 | 0.896 | 64 | 2.00 | 0.100 | 16 | ||
| PEMS03 | 24 | 12 | 6 | 64 | 512 | 1 | 3 | 0 | 0.109 | 320 | 0.896 | 4 | 0.00 | 0.100 | 16 | ||
| PEMS03 | 48 | 12 | 9 | 256 | 1024 | 1 | 3 | 0 | 0.109 | 6 | 0.017 | 128 | 2.00 | 0.200 | 16 | ||
| PEMS03 | 96 | 32 | 10 | 128 | 1024 | 1 | 3 | 0 | 0.185 | 100 | 0.280 | 64 | 2.00 | 0.010 | 16 | ||
| PEMS04 | 12 | 12 | 6 | 512 | 1024 | 1 | 2 | 1 | 0.197 | 32 | 0.105 | 4 | 2.00 | 0.200 | 16 | ||
| PEMS04 | 24 | 48 | 36 | 128 | 1024 | 2 | 4 | 2 | 0.034 | 100 | 0.327 | 64 | 1.00 | 0.025 | 16 |
| Dataset | init | init | |||||
|---|---|---|---|---|---|---|---|
| ETTh1 | 96 | 2 | 0.333 | 16 | 1.00 | 0.200 | |
| ETTh1 | 192 | 6 | 1.000 | 8 | 0.00 | 0.010 | |
| ETTh1 | 336 | 6 | 1.000 | 32 | 1.00 | 0.100 | |
| ETTh1 | 720 | 2 | 0.333 | 16 | 1.00 | 0.010 | |
| ETTh2 | 96 | 5 | 0.833 | 128 | 2.00 | 0.050 | |
| ETTh2 | 192 | 5 | 0.833 | 4 | 0.50 | 0.010 |
| MARO (Ours) | SRSNet | TimeKAN | Amplifier | ||||||
| Dataset | Horizon | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE |
| ETTh1 | 96 | 0.354 | 0.390 | 0.366 | 0.394 | 0.370 | 0.396 | 0.373 | 0.399 |
| 192 | 0.391 | 0.411 | 0.400 | 0.415 | 0.403 | 0.417 | 0.414 | 0.420 | |
| 336 | 0.398 | 0.429 | 0.424 | 0.430 | 0.420 | 0.432 | 0.442 | 0.446 | |
| 720 | 0.440 | 0.460 | 0.426 | 0.455 | 0.442 | 0.465 | 0.455 | 0.467 | |
| Avg | 0.396 | 0.423 | 0.404 | 0.423 | 0.408 | 0.427 | 0.421 | 0.433 | |
| MARO (Ours) | iTransformer | TimeMixer | PatchTST | ||||||
| Dataset | Horizon | MSE | MAE | MSE | MAE | MSE | MAE | MSE | MAE |
| ETTh1 | 96 | 0.354 | 0.390 | 0.386 | 0.405 | 0.372 | 0.401 | 0.377 | 0.397 |
| 192 | 0.391 | 0.411 | 0.430 | 0.435 | 0.413 | 0.430 | 0.409 | 0.425 | |
| 336 | 0.398 | 0.429 | 0.450 | 0.452 | 0.438 | 0.450 | 0.431 | 0.444 | |
| 720 | 0.440 | 0.460 | 0.495 | 0.487 | 0.483 | 0.483 | 0.457 | 0.477 | |
| Avg | 0.396 | 0.423 | 0.440 | 0.444 | 0.426 | 0.441 | 0.418 | 0.435 | |
| Cell | Learned | Random fixed | Correlation fixed |
|---|---|---|---|
| Electricity | |||
| Electricity | |||
| Solar | |||
| Solar | |||
| Traffic | |||
| Traffic |
| Cell | Frozen | LayerScale | Wide | Separate ctx. gate |
|---|---|---|---|---|
| ETTh1 | ||||
| ETTh1 | ||||
| ETTh2 | ||||
| ETTh2 | ||||
| Weather | ||||
| Weather |
Time Series Forecasting
Time series forecasting predicts future values from ordered observations using statistical, neural, and probabilistic models to support decisions under uncertainty.
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