Time Series Foundation Models

Time Series Foundation Models (TSFMs) have recently emerged as general-purpose forecasting models and show considerable potential for applications in energy systems. However, applications in critical infrastructure like power grids require transparency to ensure trust and reliability and cannot rely on pure black-box models. To enhance the transparency of TSFMs, we propose an efficient algorithm for computing Shapley Additive Explanations (SHAP) tailored to these models. The proposed approach leverages the flexibility of TSFMs with respect to input context length and provided covariates. This property enables efficient temporal and covariate masking (selectively withholding inputs), allowing for a scalable explanation of model predictions using SHAP. We evaluate two TSFMs - Chronos-2 and TabPFN-TS - on a day-ahead load forecasting task for a transmission system operator (TSO). In a zero-shot setting, both models achieve predictive performance competitive with a Transformer model trained specifically on multiple years of TSO data. The explanations obtained through our proposed approach align with established domain knowledge, particularly as the TSFMs appropriately use weather and calendar information for load prediction. Overall, we demonstrate that TSFMs can serve as transparent and reliable tools for operational energy forecasting.

The demand for high-resolution subsurface imaging and continuous Earth monitoring has driven rapid growth in active and passive seismic data from dense geophone deployments, distributed acoustic sensing (DAS) arrays, and large-scale 2D and 3D surveys. This expansion makes complex noise suppression increasingly challenging, especially when signal fidelity must be preserved. Conventional supervised deep learning methods are often task-specific, require large paired datasets, and can suffer from domain shift under new acquisition conditions. Foundation models offer a promising alternative, but pre-training seismic foundation models from scratch requires massive domain-specific data and substantial computation. We propose an efficient framework that repurposes general-purpose Vision Foundation Models (VFMs) for geophysical tasks through Parameter-Efficient Fine-Tuning. The architecture uses a pre-trained VFM, a DINOv3 encoder, adapted with Low-Rank Adaptation (LoRA) to enable effective feature adaptation with few additional parameters. To improve robustness under unseen field conditions without ground truth, we introduce a kurtosis-guided unsupervised test-time adaptation module that updates only LoRA parameters during inference. This module self-calibrates the model to site-specific noise by identifying information-rich regions via kurtosis and performing self-training without labeled data. Experiments on public exploration seismic images and DAS vertical seismic profiling data from the Utah FORGE site show that the framework matches or outperforms domain-specific models. Tests on unseen cross-site data from a land survey in China and the Groß Schönebeck geothermal site in Germany further demonstrate strong generalization and effective signal-noise separation. These results highlight the potential of adapting pre-trained VFMs to data-intensive problems in exploration seismology.

Driven by the transition towards a climate-neutral energy system, accurate energy time series forecasting is critical for planning and operation. Yet, it remains largely a dataset-specific task, requiring comprehensive training data, limiting scalability, and resulting in high model development and maintenance effort. Recently, foundation models that aim to learn generalizable patterns via extensive pretraining have shown superior performance in multiple prediction tasks. Despite their success and strong potential to address challenges in energy forecasting, their application in this domain remains largely unexplored. We address this gap by presenting the Foundation Models in Energy Time Series Forecasting (FETS) benchmark. We (1) provide a structured overview of energy forecasting use cases along three main dimensions: stakeholders, attributes, and data categories; (2) collect and analyze 54 datasets across 9 data categories, guided by typical stakeholder interests; (3) benchmark foundation models against classical machine learning approaches across different forecasting settings. Foundation models consistently outperform dataset-specific optimized machine learning approaches across all settings and data categories, despite the latter having seen the full historic target data during training. In particular, covariate-informed foundation models achieve the strongest performance. Further analysis reveals a strong correlation between predictive performance and spectral entropy, performance saturation beyond a certain context length, and improved performance at higher aggregation levels such as national load, district heating, and power grid data. Overall, our findings highlight the strong potential of foundation models as scalable and generalizable forecasting solutions for the energy domain, particularly in data-constrained and privacy-sensitive settings.

Time series question-answering (TSQA), in which we ask natural language questions to infer and reason about properties of time series, is a promising yet underexplored capability of foundation models. In this work, we present ARFBench, a TSQA benchmark that evaluates the understanding of multimodal foundation models (FMs) on time series anomalies prevalent in software incident data. ARFBench consists of 750 questions across 142 time series and 5.38M data points from 63 production incidents sourced exclusively from internal telemetry at Datadog. We evaluate leading proprietary and open-source LLMs, VLMs, and time series FMs and observe that frontier VLMs perform markedly better than existing baselines; the leading model (GPT-5) achieves a 62.7% accuracy and 51.9% F1. We next demonstrate the promise of specialized multimodal approaches. We develop a novel TSFM + VLM hybrid prototype which we post-train on a small set of synthetic and real data that yields comparable overall F1 and accuracy with frontier models. Lastly, we find models and human domain experts exhibit complementary strengths. We define a model-expert oracle, a best-of-2 oracle selector over model and expert answers, yielding 82.8% F1 and 87.2% accuracy and establishing a new superhuman frontier for future TSQA models. The benchmark is available at https://huggingface.co/datasets/Datadog/ARFBench.

We propose a post-hoc adaptive conformal anomaly detection method for monitoring time series that leverages predictions from pre-trained foundation models without requiring additional fine-tuning. Our method yields an interpretable anomaly score directly interpretable as a false alarm rate (p-value), facilitating transparent and actionable decision-making. It employs weighted quantile conformal prediction bounds and adaptively learns optimal weighting parameters from past predictions, enabling calibration under distribution shifts and stable false alarm control, while preserving out-of-sample guarantees. As a model-agnostic solution, it integrates seamlessly with foundation models and supports rapid deployment in resource-constrained environments. This approach addresses key industrial challenges such as limited data availability, lack of training expertise, and the need for immediate inference, while taking advantage of the growing accessibility of time series foundation models. Experiments on both synthetic and real-world datasets show that the proposed approach delivers strong performance, combining simplicity, interpretability, robustness, and adaptivity.

This paper proposes a multi-step probabilistic forecasting framework using a single neural-network based model to generate simultaneous point and interval forecasts. Our approach ensures non-crossing prediction intervals (PIs) through a model structure design that strictly satisfy a target coverage probability (PICP) while maximizing sharpness. Unlike existing methods that rely on manual weight tuning for scalarized loss functions, we treat point and PI forecasting as a multi-objective optimization problem, utilizing multi-gradient descent to adaptively select optimal weights. Key innovations include a new PI loss function based on an extended log-barrier with an adaptive hyperparameter to guarantee the coverage, a hybrid architecture featuring a shared temporal model with horizon-specific submodels, and a training strategy. The proposed loss is scale-independent and universally applicable; combined with our training algorithm, the framework eliminates trial-and-error hyperparameter tuning for balancing multiple objectives. Validated by an intra-day solar irradiance forecasting application, results demonstrate that our proposed loss consistently outperforms those in current literature by achieving target coverage with the narrowest PI widths. Furthermore, when compared against LSTM encoder-decoder and Transformer architectures--including those augmented with Chronos foundation models--our method remains highly competitive and can be seamlessly adapted to any deep learning structure.

Foundation models (FMs) for the Earth system learn statistical relationships between physical variables across massive datasets to enable versatile downstream applications through finetuning, separating them from task-specific weather models. Here, we introduce Earth System Foundation Model (ESFM), a fully open model building on the 3D Swin UNet backbone of the pioneering Aurora model. ESFM introduces extensions that increase functionality and foster adoption in climate sciences. First, the encoding scheme and training protocols have been extended to handle diverse datasets, including those containing missing values across all spatio-temporal dimensions such as satellite data, as well as station data, all under one backbone. Axial attention is introduced to capture inter-variable dependencies. As a result ESFM skillfully predicts variables in regions or on pressure levels where no data is present at the initial time, while preserving inter-variable relationships, for example between temperature, pressure, and humidity. Individual variable tokenization enables different sets of variables to be shuffled during training and simplifies the process of building extensions for new downstream tasks. Adaptive layer norm-based ensembles allow for a simple yet effective way to transform deterministic ESFM to a probabilistic FM. We present findings using dense gridded data (ERA5, CMIP6), regionally masked dense data, sparse gridded MODIS satellite data, and station data. Results demonstrate competitive or superior performance relative to state-of-the-art benchmarks. Case studies of Super Typhoon Doksuri (2023) and 2024 sudden stratospheric warming events show accurate positional and magnitude estimations of extreme weather. ESFM retains the strengths of previous foundation models, such as long-term stability, but facilitates application to a variety of downstream tasks.

Non-stationary sequences arise naturally in control, forecasting, and decision-making. The data-generating process shifts at unknown times, and models must detect the change, discard or downweight obsolete evidence, and adapt to new dynamics on the fly. Transformer-based foundation models increasingly rely on in-context learning for time series forecasting, tabular prediction, and continuous control. As these models are deployed in non-stationary environments, understanding their ability to detect and adapt to regime shifts is important. We formalize this as an in-context change-point detection problem and formally establish the existence of transformer models that solve this problem. Our construction demonstrates that model complexity, in layers and parameters, depends on the level of information available about the change-point location, from no knowledge to knowing exact timing. We validate our results with experiments on synthetic linear regression and linear dynamical systems, where trained transformers match the performance of optimal baselines across information levels. We also show that encoding and incorporating changepoint knowledge indeed improves the real-world performance of a pretrained foundation models on infectious disease forecasting and on financial volatility forecasting around Federal Open Market Committee (FOMC) announcements without retraining, demonstrating practical applicability to real-world regime changes.

Time Series Foundation Models (TSFMs) advance generalization and data efficiency in time series forecasting by unified large-scale pretraining. But TSFMs remain lacking when adapting to specific downstream forecasting tasks for two reasons. First, the non-stationary and uncertain nature of time series data lead to inevitable temporal distribution shifts between historical training and future testing data, while current Supervised FineTuning (SFT)-based methods are prone to overfitting and may degrade generalization. Second, training data availability varies across forecasting tasks, requiring TSFMs to generalize well under diverse data regimes. To address these challenges, we introduce the Time series Reinforcement Finetuning (TimeRFT) paradigm for TSFM downstream adaptation, which consists of two task-specific training recipes: i) A forecasting quality-based temporal reward mechanism that conducts a multi-faceted evaluation of the contribution of each prediction step to overall forecasting accuracy. ii) A forecasting difficulty-based data selection strategy to identify time series samples with generalizable predictive patterns and informative training signals. Extensive experiments demonstrate TimeRFT can consistently outperform SFT-based adaptation methods across various real-world forecasting tasks and training data regimes, enhancing prediction accuracy and generalization against unforeseen distribution shifts.

Large-scale renewable energy deployment introduces pronounced volatility into the electricity system, turning grid operation into a complex stochastic optimization problem. Accurate electricity price forecasting (EPF) is essential not only to support operational decisions, such as optimal bidding strategies and balancing power preparation, but also to reduce economic risk and improve market efficiency. Probabilistic forecasts are particularly valuable because they quantify uncertainty stemming from renewable intermittency, market coupling, and regulatory changes, enabling market participants to make informed decisions that minimize losses and optimize expected revenues. However, it remains an open question which models to employ to produce accurate forecasts. Should these be task-specific machine learning (ML) models or Time Series Foundation Models (TSFMs)? In this work, we compare four models for day-ahead probabilistic EPF (PEPF) in European bidding zones: a deterministic NHITS backbone with Quantile-Regression Averaging (NHITS+QRA) and a conditional Normalizing-Flow forecaster (NF) are compared with two TSFMs, namely Moirai and ChronosX. On the one hand, we find that TSFMs outperform task-specific deep learning models trained from scratch in terms of CRPS, Energy Score, and predictive interval calibration across market conditions. On the other hand, we find that well-configured task-specific models, particularly NHITS combined with QRA, achieve performance very close to TSFMs, and in some scenarios, such as when supplied with additional informative feature groups or adapted via few-shot learning from other European markets, they can even surpass TSFMs. Overall, our findings show that while TSFMs offer expressive modeling capabilities, conventional models remain highly competitive, emphasizing the need to weigh computational expense against marginal performance improvements in PEPF.

Foundation models have transformed natural language processing and computer vision, and a rapidly growing literature on time-series foundation models (TSFMs) seeks to replicate this success in forecasting. While recent open-source models demonstrate the promise of TSFMs, the field lacks a comprehensive and community-accepted model evaluation framework. We see at least four major issues impeding progress on the development of such a framework. First, existing evaluation frameworks comprise benchmark forecasting tasks derived from often outdated datasets (e.g., M3), many of which lack clear metadata and overlap with the corpora used to pre-train TSFMs. Second, these frameworks evaluate models along a narrowly defined set of benchmark forecasting tasks, such as forecast horizon length or domain, but overlook core statistical properties such as non-stationarity and seasonality. Third, domain-specific models (e.g., XGBoost) are often compared unfairly, as existing frameworks do not enforce a systematic and consistent hyperparameter tuning convention for all models. Fourth, visualization tools for interpreting comparative performance are lacking. To address these issues, we introduce TempusBench, an open-source evaluation framework for TSFMs. TempusBench consists of 1) new datasets which are not included in existing TSFM pretraining corpora, 2) a set of novel benchmark tasks that go beyond existing ones, 3) a model evaluation pipeline with a standardized hyperparameter tuning protocol, and 4) a tensorboard-based visualization interface. We provide access to our code on GitHub: https://github.com/Smlcrm/TempusBench and maintain a live leaderboard at https://smlcrm.com/tempusbench.

In-context learning (ICL) enables task adaptation at inference time by conditioning on demonstrations rather than updating model parameters. Although recent time-series foundation models incorporate contextual conditioning, retrieval, or example-based prompting, they typically rely on implicit positional structure or task-specific objectives rather than explicit instruction-conditioned input-output demonstrations. We introduce iAmTime, a time-series foundation model trained with instruction-conditioned amortized meta-learning to infer tasks directly from example demonstrations. iAmTime represents each episode as a structured prompt over historical context and future-known variables using specialized semantic tokens that attend to designated time-series regions, exchange information across demonstrations, and inject task information into the query representation. The model combines a Hierarchical Multi-Scope Transformer Encoder, which captures temporal and covariate dynamics while inferring latent task structure from demonstrated input-output mappings, with a Task-Conditioned Patch Decoder, which adapts decoding through expert-based routing. We train iAmTime on large-scale real and synthetic corpora using supervised and self-supervised instruction-conditioned tasks, including forecasting, imputation, reconstruction, classification, anomaly detection, and source de-mixing. Across diverse domains, frequencies, and horizons, iAmTime improves zero-shot adaptation over strong time-series foundation baselines on probabilistic and point forecasting benchmarks, while achieving competitive or superior performance on four non-forecasting tasks.

Time Series Foundation Models (TSFMs) leverage extensive pretraining to accurately predict unseen time series during inference, without the need for task-specific fine-tuning. Through large-scale evaluations on standard benchmarks, we find that leading transformer-based TSFMs exhibit redundant components in their intermediate layers. We introduce a set of tools for mechanistic interpretability of TSFMs, including ablations of specific components and direct logit attribution on the residual stream. Our findings are consistent across several leading TSFMs with diverse architectures, and across a diverse set of real-world and synthetic time-series datasets. We discover that all models in our study are robust to ablations of entire layers. Furthermore, we develop a theoretical framework framing transformers as kernel regressors, motivating a purely intrinsic strategy for ablating heads based on the stable rank of the per-head projection matrices. Using this approach, we uncover the specific heads responsible for degenerate phenomena widely observed in TSFMs, such as parroting of motifs from the context and seasonality bias. Our study sheds light on the universal properties of this emerging class of architectures for continuous-time sequence modeling.

Process Model Forecasting (PMF) aims to predict how the control-flow structure of a process evolves over time by modeling the temporal dynamics of directly-follows (DF) relations, complementing predictive process monitoring that focuses on single-case prefixes. Prior benchmarks show that machine learning and deep learning models provide only modest gains over statistical baselines, mainly due to the sparsity and heterogeneity of the DF time series. We investigate Time Series Foundation Models (TSFMs), large pre-trained models for generic time series, as an alternative for PMF. Using DF time series derived from real-life event logs, we compare zero-shot use of TSFMs, without additional training, with fine-tuned variants adapted on PMF-specific data. TSFMs generally achieve lower forecasting errors (MAE and RMSE) than traditional and specialized models trained from scratch on the same logs, indicating effective transfer of temporal structure from non-process domains. While fine-tuning can further improve accuracy, the gains are often small and may disappear on smaller or more complex datasets, so zero-shot use remains a strong default. Our study highlights the generalization capability and data efficiency of TSFMs for process-related time series and, to the best of our knowledge, provides the first systematic evaluation of temporal foundation models for PMF.

While Time Series Foundation Models (TSFMs) excel in zero-shot tasks, their behavior under continual fine tuning is poorly understood. We present the first systematic study of catastrophic forgetting in TSFMs (TimesFM-2.0, Chronos-2) versus a specialized SamFormer model across synthetic and real-world energy forecasting benchmarks. Our results show that while fine-tuning improves new task accuracy, it consistently triggers forgetting, though larger models exhibit greater inherent robustness. Notably, employing forgetting mitigation techniques such as DER, levels the playing field: it provides disproportionate gains to smaller models, allowing them to match TSFM performance by the end of the continual learning sequence. These findings suggest that in realistic, non-stationary scenarios, the high computational cost of large foundation models may not be justified over smaller models equipped with effective mitigation strategies.

Inherent temporal heterogeneity, such as varying sampling densities and periodic structures, has posed substantial challenges in zero-shot generalization for Time Series Foundation Models (TSFMs). Existing TSFMs predominantly rely on massive parameterization to absorb such heterogeneity, as their static tokenization and positional encoding schemes entangle diverse temporal patterns into a fixed representation space, encouraging memorization rather than adaptation. To address this limitation, we propose Kairos, a flexible and parameter-efficient TSFM dedicated to forecasting tasks, which decouples temporal heterogeneity from model capacity through a novel tokenization perspective. Kairos introduces a dynamic patching tokenizer and a mixture-of-size encoding that adapt observational granularity to local information density, enabling fine-grained temporal abstraction without increasing model width or depth. In addition, we design a multi-granularity positional embedding based on dynamic rotary encodings, which conditions on instance-level spectral features and temporal structure induced by dynamic patching tokenization, allowing robust modeling of diverse temporal dependencies. Trained on a novel Predictability-Stratified Time-Series (PreSTS) corpus, Kairos achieves superior zero-shot performance with substantially fewer parameters on two mainstream benchmarks, GIFT-Eval and Time-Series-Library. The project page is at https://foundation-model-research.github.io/Kairos .

Adapting vision models for time series analysis is compelling, yet all existing approaches are falling short of dedicated time series foundation models (TSFMs) in classification. In this work, we propose Time Vision Transformer (TiViT), the first framework that successfully unlocks the representational power of frozen Vision Transformers (ViTs) pretrained on large-scale image datasets for time series classification. TiViT achieves state-of-the-art performance without any finetuning by utilizing the hidden representations of OpenCLIP models. We explore the structure of TiViT representations and find that intermediate ViT layers with high intrinsic dimension are the most effective for time series classification. Furthermore, we assess the alignment between TiViT and TSFM representation spaces and identify a strong complementarity, with additional performance gains achieved through feature concatenation. Finally, we unfreeze the ViT backbone of TiViT for continual pretraining and contrastive alignment with TSFMs on time series, enhancing the performance of lightweight TiViT variants. Our findings reveal a new direction for the domain and task adaptation of vision foundation models. Code is available at https://github.com/ExplainableML/TiViT.

Conventional forecasting methods are trained end-to-end on unimodal time series, which limits their ability to exploit textual information and undermines their generalization in data-scarce scenarios. Recently, large language models (LLMs) and time series foundation models (TSFMs) have demonstrated powerful capabilities in complex textual reasoning and zero-shot temporal modeling, respectively. Integrating these strengths to construct a multimodal time series foundation model that jointly leverages temporal and textual information for zero-shot future inference has emerged as a promising research direction. However, the scarcity of large-scale, high-quality multimodal datasets remains a fundamental obstacle. To address this challenge, we propose ChronoSteer, a decoupled agentic framework that learns cross-modal alignment from synthetic paired supervision. Specifically, a pretrained LLM first converts textual events into revision instructions that steer the initial unimodal prediction produced by a frozen TSFM. These revision instructions form an intermediate instruction space that bridges the semantic gap between text and time series while fully leveraging pretrained knowledge. Technically, the instructions are discretized into a compact codebook of instruction anchors, effectively mitigating semantic divergence while reducing the cost of dataset construction. Finally, we adopt a two-stage training strategy to recover the fine-grained magnitude information lost during discretization. Furthermore, we release a leakage-controlled multimodal benchmark constructed with temporal separation and textual context available before the prediction window. When paired with an LLM and trained on synthetic cross-modal alignment data, ChronoSteer achieves a 25.8% improvement in zero-shot prediction accuracy over its unimodal backbone, and outperforms prior state-of-the-art unimodal and multimodal ...

While foundation models have revolutionized various domains, their application to time series classification remains rather under-explored, with existing literature predominantly focused on forecasting. To bridge this gap, we introduce \textbf{Mantis}, a transformer-based foundation model pre-trained exclusively on synthetic data via self-supervised contrastive learning. We demonstrate that effective tokenization is critical to unlocking the full potential of transformers, proposing a novel token generator unit. Furthermore, we introduce an enhanced test-time methodology that bridges the performance gap between Mantis and strong specialized approaches by leveraging intermediate-layer representations, self-ensembling, and cross-model embedding fusion. Extensive experiments demonstrate that Mantis establishes a new state-of-the-art, outperforming existing foundation models across four diverse dataset collections covering various application domains.