From Retrieval to Recognition:Knowledge-Enhanced Post-training of Time Series Foundation Models for Classification
Authors: Zhen Liu, Yucheng Wang, Yingpeng Du, Tianjun Wei, Qianli Ma, Min Wu, Jie Zhang, Zhu Sun
Organizations: Nanyang Technological University, Singapore · Institute of Advanced Intelligence and Computing (IAIC), A*STAR, Singapore · AI Center of Excellence for Manufacturing (AIMfg), A*STAR, Singapore · South China University of Technology, China · Singapore University of Technology and Design, Singapore
Time series foundation models (TSFMs) have achieved notable progress in classification tasks through large-scale pretraining. However, their post-training practice mainly focuses on implicit parameter fine-tuning, where task-relevant information is entangled with abundant irrelevant knowledge in vast parameter spaces. This may hinder TSFMs from precisely activating useful knowledge for downstream classification. To this end, we propose Retrieval-to-Recognition (R2R), a plug-and-play post-training paradigm that adapts pretrained TSFMs to time series classification. Rather than pretraining a new foundation model, R2R improves how existing TSFMs are post-trained: it introduces a decoupled query encoder to extract discriminative patterns and retrieve instance-level numerical knowledge from a constructed knowledge base. The retrieved explicit knowledge is then fused with the TSFM's implicit parametric embeddings, enabling joint knowledge transfer at both the parameter and feature levels. In this way, R2R allows TSFMs to recall task-relevant patterns learned during pretraining, improving the efficiency of knowledge utilization in downstream classification transfer. Experiments on 158 time series datasets show that R2R consistently improves the classification performance of state-of-the-art TSFMs. Ablation and knowledge-enhanced studies further validate the effectiveness of the proposed framework.
Figures & tables
Figure 1: Illustration of knowledge paradigms in TSFMs for classification. (a) Knowledge learning : TSFMs learn discriminative class patterns from multi-domain pretraining data, storing knowledge implicitly in model parameters. (b) Knowledge transfer : Existing methods adapt this knowledge to target tasks via parameter fine-tuning, without explicitly reusing pretraining data knowledge. (c) Knowledge enhancement : R2R enhances parameter transfer with feature-level retrieval, explicitly leveraging numerical patterns from a pretraining knowledge base to boost recognition. Stage (a) is pretraining; (b) and (c) are post-training, and this work targets the (b) → (c) transition.
Figure 2: The overall architecture of the R2R framework. The knowledge extraction and retrieval modules constitute the query encoder. R2R uses the output of the query encoder as feature-level knowledge and fuses it with parameter-level class-token embeddings from pre-trained TSFMs for knowledge enhancement.
Figure 3
Metric
RF
GPT4TS
MOMENT
Chronos
Moirai
UniTS
NuTime
Mantis
UniShape
TS-RAG
TSPulse
R2R
Avg. Rank
5.80
9.00
6.53
6.33
9.00
11.87
5.63
5.80
5.20
3.97
5.37
1.73
Win
2
1
1
2
1
0
0
1
1
5
1
21
P-value
8.52E-06
1.28E-05
1.43E-06
1.30E-05
9.31E-08
2.05E-08
2.11E-05
2.64E-05
8.20E-07
1.33E-04
9.31E-08
-
Table 1: Test accuracy results on 30 additional datasets under the zero-shot feature extraction setting.
Table 5
Figure 5: t-SNE visualization on the SonyAIBORobotSurface1 dataset.
Metric
Raw
Jitter
Time warp
Magnitude warp
Window slice
Time flip
Permutation
Scaling
R2R
Avg. Rank
2.39
5.11
5.06
4.89
4.33
5.06
5.50
4.83
2.00
Table 4: Test results on 18 UCR datasets compared with different data augmentation methods.
Dataset A
Dataset B
Only parameter transfer
R2R transfer
Acc A1
Acc A2
Forgetting
Acc A1
Acc A2
Forgetting
AsphaltRegularityUni_eq
FloodModeling1_disc
0.9654
0.4887
0.4767
0.9734
0.7909
0.1825
GesturePebbleZ1_eq
Colposcopy
0.9477
0.5233
0.4244
0.9535
0.7151
0.2384
AllGestureWiimoteX_eq
AllGestureWiimoteY_eq
0.7671
0.2429
0.5242
0.7786
0.2771
0.5015
GestureMidAirD1_eq
GestureMidAirD2_eq
0.7538
0.1231
0.6307
0.7692
0.1538
0.6154
Table 5: Impact of continual fine-tuning for TSC. Acc A1 : Initial accuracy on dataset A ; Acc A2 : Accuracy on dataset A after continual training on dataset B ; Forgetting: Acc A1 - Acc A2 .
Appendix figures & tables16 assets
Supplementary material from the paper’s appendix.
Appendix
ID
Dataset name
Train size
Test size
No. classes
Length
ID
Dataset name
Train size
Test size
No. classes
Length
1
ACSF1
100
100
10
1460
65
ItalyPowerDemand
67
1029
2
24
2
Adiac
390
391
37
176
66
LargeKitchenAppliances
375
375
3
720
3
AllGestureWiimoteX
300
700
10
Vary
67
Lightning2
60
61
2
637
4
AllGestureWiimoteY
300
700
10
Vary
68
Lightning7
70
73
7
319
5
AllGestureWiimoteZ
300
700
10
Vary
69
Mallat
55
2345
8
1024
6
ArrowHead
36
175
3
251
70
Meat
60
60
3
448
Appendix
Table 6: Summary of the 128 univariate datasets from the UCR archive used in the fully supervised classification setting. “Train size” and “Test size” indicate the number of instances in the corresponding splits. “No. class” represents the number of classes, and “Length” denotes the time series length. The label “Vary” in the length column signifies datasets with variable-length sequences due to missing values.
ID
Dataset name
Train size
Test size
Length
No. classes
Category
1
AconityMINIPrinterLarge_eq
2403
1184
300
2
Sensor
2
AconityMINIPrinterSmall_eq
589
292
300
2
Sensor
3
AllGestureWiimoteX_eq
300
700
500
10
Motion
4
AllGestureWiimoteY_eq
300
700
500
10
Motion
5
AllGestureWiimoteZ_eq
300
700
500
10
Motion
6
AsphaltObstaclesUni_eq
390
391
736
4
Sensor
Appendix
Table 7: Summary of the 30 additional univariate time series datasets used for zero-shot feature extraction evaluation. Dataset name suffixes indicate preprocessing protocols: _eq denotes unequal-length sequences normalized via mean-padding with Gaussian noise; _nmv refers to datasets originally containing missing values, where only complete instances are retained; and _disc indicates datasets derived from the TSER archive. “Train size” and “Test size” correspond to the number of samples in each split. “No. class” specifies the number of classes, “Length” denotes the sequence length, and “Category” indicates the application domain.
ID
Dataset
Rocket
MiniRocket
RDST
MR-H
HC2
IncTime
TS2Vec
PatchTST
TimesNet
SoftShape
MambaSL
GPT4TS
MOMENT
UniTS
NuTime
TS-RAG
Mantis
UniShape
R2R +NuTime
R2R +Mantis
R2R +UniShape
1
ACSF1
0.8600
0.9100
0.9300
0.8600
0.9100
0.9400
0.8800
0.7300
0.3000
0.8800
0.8600
0.6100
0.5000
0.7700
0.6700
0.7500
0.7000
0.8000
0.8200
0.8600
0.9300
2
Adiac
0.7903
0.8235
0.7136
0.8344
0.8184
0.8107
0.7545
0.6675
0.6292
0.8159
0.7877
0.7826
0.1458
0.5115
0.8031
0.8235
0.8159
0.8289
0.8184
0.8440
0.8414
3
AllX.
0.7629
0.7429
0.7471
0.7600
0.7671
0.7229
0.6729
0.2643
0.4529
0.7871
0.6114
0.5029
0.5157
0.6329
0.7086
0.7600
0.7914
0.7743
0.6929
0.7829
0.7743
4
AllY.
0.7486
0.7571
0.7386
0.7886
0.7586
0.7943
0.6771
0.2529
0.4557
0.7643
0.7043
0.5129
0.5986
0.6443
0.7557
0.8000
0.8243
0.7929
0.7429
0.8253
0.8086
5
AllZ.
0.7886
0.7314
0.7100
0.7529
0.7886
0.7771
0.7371
0.1757
0.4071
0.7443
0.5900
0.4071
0.4886
0.5700
0.6614
0.7300
0.7586
0.7429
0.6743
0.7300
0.7657
6
Arrd.
0.8057
0.8400
0.8686
0.8629
0.9086
0.8400
0.8400
0.6971
0.7486
0.8457
0.7429
0.8057
0.5657
0.7543
0.8343
0.8971
0.8686
0.8857
0.9257
0.9200
0.9257
Appendix
Table 8: Detailed test classification accuracy results on 128 UCR datasets under the fully supervised classification setting. Due to space constraints, dataset names are abbreviated; full names can be referenced via their IDs in Table 6 . “IncTime” denotes InceptionTime. The best results are in bold .
ID
Dataset name
RF
GPT4TS
Moment
Chronos
Moirai
UniTS
NuTime
Mantis
UniShape
TS-RAG
TSPulse
R2R
1
AconityMINIPrinterLarge_eq
0.9096
0.6596
0.8660
0.9265
0.8049
0.5819
0.8438
0.8710
0.8691
0.9206
0.9215
0.9417
2
AconityMINIPrinterSmall_eq
0.9486
0.7158
0.9589
0.9315
0.8562
0.6575
0.8562
0.9315
0.9486
0.9555
0.9692
0.9863
3
AllGestureWiimoteX_eq
0.5286
0.4186
0.5343
0.4100
0.2929
0.0800
0.5414
0.4943
0.5343
0.5786
0.5341
0.6571
4
AllGestureWiimoteY_eq
0.5571
0.4157
0.5857
0.3829
0.3014
0.0971
0.5129
0.5086
0.5771
0.6200
0.5729
0.7000
5
AllGestureWiimoteZ_eq
0.4643
0.3871
0.5286
0.4343
0.2614
0.1029
0.4543
0.4757
0.5557
0.5700
0.4886
0.6943
6
AsphaltObstaclesUni_eq
0.7366
0.7417
0.7647
0.8159
0.4731
0.2379
0.7954
0.7980
0.8235
0.8568
0.8210
0.8261
Appendix
Table 9: Detailed test classification accuracy results on 30 additional time series datasets under the zero-shot feature extraction setting. The best results are in bold .
ID
Dataset name
R2R+ UniShape
w/o Feature transfer
w/o Parameter transfer
MiniRocket
MiniRocket
MiniRocket
Rocket
MultiRocket
UniShape
with Retrieval
w/o Retrieval
w/o ReMGP
w/o Retrieval
w/o Retrieval
w/o Retrieval
1
ACSF1
0.9300
0.8000
0.9100
0.9000
0.8900
0.6800
0.8700
0.7500
2
Adiac
0.8414
0.8289
0.7612
0.7570
0.7428
0.6880
0.8338
0.8312
3
AllGestureWiimoteX
0.7743
0.7743
0.6714
0.6657
0.6186
0.5129
0.6600
0.7357
4
AllGestureWiimoteY
0.8086
0.7929
0.7271
0.7257
0.6400
0.6600
0.7300
0.7729
Appendix
Table 10: Detailed test classification accuracy results of the ablation study on 128 UCR time series datasets. The best results are in bold .
ID
Dataset name
Balanced
Random
Unbalanced
50K
100K
200K
500K
1M
1.89M
100K
100K
1
ArrowHead
0.8628
0.8857
0.8857
0.8800
0.8571
0.8685
0.8857
0.8628
2
CBF
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
3
CricketX
0.8077
0.8282
0.8205
0.8205
0.8205
0.8154
0.8203
0.7997
4
DistalPhalanxOutlineAgeGroup
0.7698
0.7698
0.7626
0.7842
0.7914
0.8058
0.7698
0.7483
5
DistalPhalanxOutlineCorrect
0.7826
0.7899
0.7754
0.8152
0.7826
0.7826
0.7863
0.7790
Appendix
Table 11: Detailed test classification accuracy results on 18 UCR time series datasets under varying knowledge base sizes and sampling strategies. The best results are in bold .
Figure 6: t-SNE visualization on the Chinatown dataset.
Figure 7: t-SNE visualization on the ArrowHead dataset.
Figure 8: t-SNE visualization on the UWaveGestureLibraryAll dataset.
Figure 9: t-SNE visualization on the MelbournePedestrian dataset.
ID
Dataset name
Raw
Jitter
Time warp
Magnitude warp
Window slice
Time flip
Permutation
Scaling
R2R
1
ArrowHead
0.8857
0.8629
0.8457
0.8686
0.8629
0.8857
0.8400
0.8743
0.9257
2
CBF
1.0000
1.0000
1.0000
1.0000
1.0000
0.8389
1.0000
1.0000
1.0000
3
CricketX
0.8282
0.8154
0.8205
0.8128
0.8179
0.8308
0.8308
0.8179
0.8308
4
DistalPhalanxOutlineAgeGroup
0.7698
0.7698
0.7698
0.7554
0.7842
0.7842
0.7482
0.7338
0.7914
5
DistalPhalanxOutlineCorrect
0.7899
0.7935
0.7899
0.7971
0.7609
0.7609
0.7971
0.7935
0.7862
6
ECG5000
0.9498
0.9464
0.9387
0.9458
0.9444
0.9442
0.9464
0.9451
0.9462
Appendix
Table 12: Detailed test classification accuracy on 18 UCR datasets compared with different time series data augmentation methods. The best results are in bold .
Dataset A
Dataset B
Only Parameter transfer
R2R transfer
Acc A1
Acc A2
Forgetting
Acc A1
Acc A2
Forgetting
AconityMINIPrinterSmall_eq
AsphaltRegularityUni_eq
0.9795
0.8048
0.1747
0.9829
0.8253
0.1576
Colposcopy
GesturePebbleZ1_eq
0.3564
0.2574
0.0990
0.3762
0.2970
0.0792
AllGestureWiimoteY_eq
AllGestureWiimoteZ_eq
0.7971
0.2829
0.5142
0.8071
0.3286
0.4785
GestureMidAirD2_eq
GestureMidAirD3_eq
0.6923
0.1769
0.5154
0.7000
0.2308
0.4692
Appendix
Table 13: Impact of continual fine-tuning for classification on another four group datasets selected from the additional 30 time series datasets. Acc A1 : Initial accuracy on dataset A ; Acc A2 : Accuracy on dataset A after continual training on dataset B ; Forgetting: Acc A1 - Acc A2 .
ID
Dataset name
IP
L2
Cosine
1
ArrowHead
0.8800
0.8743
0.9257
2
CBF
1.0000
1.0000
1.0000
3
CricketX
0.8257
0.8257
0.8308
4
DistalPhalanxOutlineAgeGroup
0.7554
0.7339
0.7914
5
DistalPhalanxOutlineCorrect
0.7754
0.8080
0.7862
6
ECG5000
0.9400
0.9420
0.9462
Appendix
Table 14: Detailed test classification accuracy results on 18 UCR time series datasets using different distance metrics within R2R. The best results are in bold .
ID
Dataset name
nlist =128
nlist =256
nlist =512
nlist =1024
nlist =2048
nlist =4096
nlist =8192
1
ArrowHead
0.9200
0.9257
0.9314
0.9314
0.9314
0.9543
0.9486
2
CBF
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
3
CricketX
0.8283
0.8308
0.8026
0.8232
0.8283
0.7975
0.8283
4
DistalPhalanxOutlineAgeGroup
0.7842
0.7914
0.7842
0.7886
0.7770
0.7698
0.7555
5
DistalPhalanxOutlineCorrect
0.8007
0.7862
0.8079
0.8043
0.7971
0.8007
0.8079
6
ECG5000
0.9444
0.9462
0.9462
0.9509
0.9431
0.9480
0.9391
Appendix
Table 15: Detailed test classification accuracy results on 18 UCR time series datasets using different nlist for retrieval within R2R. The best results are in bold .
ID
Dataset name
K=1
K=5
K=10
K=20
K=32
K=64
1
ArrowHead
0.9128
0.9543
0.9371
0.9257
0.9428
0.9486
2
CBF
1.0000
1.0000
1.0000
1.0000
1.0000
1.0000
3
CricketX
0.8287
0.8461
0.8385
0.8308
0.8410
0.8461
4
DistalPhalanxOutlineAgeGroup
0.7626
0.7770
0.7914
0.7914
0.7770
0.7842
5
DistalPhalanxOutlineCorrect
0.7608
0.7789
0.7681
0.7862
0.7789
0.7391
6
ECG5000
0.9409
0.9398
0.9467
0.9462
0.9495
0.9438
Appendix
Table 16: Detailed test classification accuracy results on 18 UCR time series datasets using different Top- K retrieval embeddings within R2R. The best results are in bold .
ID
Dataset name
Mantis
UniShape-based (ours)
None
PCA
Linear
UniShape (Linear)
R2R UniShape (Linear)
1
CharacterTrajectories
0.976
0.977
0.988
0.995
0.995
2
DuckDuckGeese
0.540
0.580
0.600
0.600
0.627
3
EigenWorms
0.814
0.863
0.855
0.898
0.906
4
FaceDetection
0.549
0.553
0.592
0.664
0.657
5
HandMovementDirection
0.297
0.338
0.338
0.351
0.446
Appendix
Table 17: Test classification accuracy on ten UEA multivariate datasets under the linear channel-adapter setting. The Mantis columns are taken from Appendix Table 12 of [ 19 ] , and all accuracies are reported to three decimals. The best results are in bold .
Time series foundation models (TSFMs) have emerged as general-purpose models for time series analysis, but pretraining alone is often insufficient for reliable downstream deployment. Bridging this gap requires further intervention to handle domain shift, task heterogeneity, limited supervision, and computational constraints, which motivates post-training as a broad class of methods to adapt, augment, compose, calibrate, or specialize pretrained TSFMs for downstream tasks. In this work, we analyze TSFM post-training methods based on their locus of intervention in the prediction pipeline, yielding five categories: parameter adaptation, context augmentation, model composition, output processing and uncertainty control, and compression and specialization. Within each category, we study main representative methods and discuss their current limitations. We further identify future directions toward controlled adaptation, reliable context construction, uncertainty-aware model composition, calibrated output processing, and deployment-aware specialization. Overall, by providing a unifying framework for the emerging TSFM post-training landscape, this work aims to support future research to navigate the design space between a pretrained TSFM and its reliable downstream deployment.
The zero-shot evaluation of time series foundation models (TSFMs) for classification typically uses a frozen encoder followed by a task-specific classifier. However, this practice violates the training-free premise of zero-shot deployment and introduces evaluation bias due to classifier-dependent training choices. To address this issue, we propose TIC-FM, an in-context learning framework that treats the labeled training set as context and predicts labels for all test instances in a single forward pass, without parameter updates. TIC-FM pairs a time series encoder and a lightweight projection adapter with a split-masked latent memory Transformer. We further provide theoretical justification that in-context inference can subsume trained classifiers and can emulate gradient-based classifier training within a single forward pass. Experiments on 128 UCR datasets show strong accuracy, with consistent gains in the extreme low-label situation, highlighting training-free transfer for time series classification.The source code is publicly available at https://github.com/fangjuntao/TIC-FM.
Juntao Fang, Shifeng Xie, Shengbin Nie +7
Guangdong University of Technology, Guangzhou, China · Huawei Noah’s Ark Lab, Paris, France · Paris Descartes University, Paris, France +2
Time Series Foundation Models (TSFMs) have demonstrated notable success in general-purpose forecasting tasks; however, their adaptation to specialized classification problems remains constrained by the computational bottleneck of standard attention and the systematic omission of classical statistical knowledge. This technical report introduces KairosHope, a next-generation TSFM designed to reconcile massive generalization with analytical precision in classification tasks. The core of the proposal is the HOPE block, an architecture that replaces quadratic attention with a dual-memory system: Titans modules for dynamic short-term retention and a Continuum Memory System (CMS) for the abstraction of long-term historical context. To enrich the inductive bias, a Hybrid Decision Head is introduced, which fuses deep latent representations with deterministic statistical features extracted via tsfeatures package. KairosHope undergoes self-supervised pre-training on the massive Monash archive, combining Masked Time Series Modeling (MTSM) and contrastive learning (InfoNCE). Its subsequent adaptation to the UCR benchmark datasets is conducted through a rigorous Linear Probing and Full Fine-Tuning (LP-FT) protocol to prevent catastrophic forgetting. Empirical results demonstrate superior performance in domains characterized by strict temporal causality such as HAR or Sensor data. Consequently, KairosHope establishes a robust and efficient framework for the adaptation of foundation models to time series analysis.
Luis Balderas, José Alberto Rodríguez, Miguel Lastra +2
Department of Computer Science and Artificial Intelligence · DiCITS, iMUDS, DaSCI · Advanced Medical Imaging Group, Instituto de Investigación Biosanitaria de Granada (ibs.Granada) +3