Online hierarchical forecasting for power consumption data

This paper proposes a three-step approach to forecasting time series of electricity consumption at different levels of household aggregation. These series are linked by hierarchical constraints—global consumption is the sum of regional consumption, for example. First, benchmark forecasts are generated for all series using generalized additive models. Second, for each series, the aggregation algorithm ML-Poly, introduced by Gaillard, Stoltz, and van Erven in 2014, finds an optimal linear combination of the benchmarks. Finally, the forecasts are projected onto a coherent subspace to ensure that the final forecasts satisfy the hierarchical constraints. By minimizing a regret criterion, we show that the aggregation and projection steps improve the root mean square error of the forecasts. Our approach is tested on household electricity consumption data; experimental results suggest that successive aggregation and projection steps improve the benchmark forecasts at different levels of household aggregation.     

Hierarchical forecasting with a top-down alignment of independent-level forecasts

Hierarchical forecasting with intermittent time series is a challenge in both research and empirical studies. Extensive research focuses on improving the accuracy of each hierarchy, especially the intermittent time series at bottom levels. Then, hierarchical reconciliation can be used to improve the overall performance further. In this paper, we present a hierarchical-forecasting-with-alignment approach that treats the bottom-level forecasts as mutable to ensure higher forecasting accuracy on the upper levels of the hierarchy. We employ a pure deep learning forecasting approach, N-BEATS, for continuous time series at the top levels, and a widely used tree-based algorithm, LightGBM, for intermittent time series at the bottom level. The hierarchical-forecasting-with-alignment approach is a simple yet effective variant of the bottom-up method, accounting for biases that are difficult to observe at the bottom level. It allows suboptimal forecasts at the lower level to retain a higher overall performance. The approach in this empirical study was developed by the first author during the M5 Accuracy competition, ranking second place. The method is also business orientated and can be used to facilitate strategic business planning.     

A copula-based time series model for global horizontal irradiation

The increasing importance of solar power for electricity generation leads to increasing demand for probabilistic forecasting of local and aggregated photovoltaic (PV) yields. Based on publicly available irradiation data, this paper uses an indirect modeling approach for hourly medium to long-term local PV yields. We suggest a time series model for global horizontal irradiation that allows for multivariate probabilistic forecasts for arbitrary time horizons. It features several important stylized facts. Sharp time-dependent lower and upper bounds of global horizontal irradiations are estimated. The parameters of the beta distributed marginals of the transformed data are allowed to be time-dependent. A copula-based time series model is introduced for the hourly and daily dependence structure based on simple vine copulas with so-called tail dependence. Evaluation methods based on scoring rules are used to compare the model’s power for multivariate probabilistic forecasting with other models used in the literature showing that our model outperforms other models in many respects.     

Global energy forecasting competition 2017: Hierarchical probabilistic load forecasting

The Global Energy Forecasting Competition 2017 (GEFCom2017) attracted more than 300 students and professionals from over 30 countries for solving hierarchical probabilistic load forecasting problems. Of the series of global energy forecasting competitions that have been held, GEFCom2017 is the most challenging one to date: the first one to have a qualifying match, the first one to use hierarchical data with more than two levels, the first one to allow the usage of external data sources, the first one to ask for real-time ex-ante forecasts, and the longest one. This paper introduces the qualifying and final matches of GEFCom2017, summarizes the top-ranked methods, publishes the data used in the competition, and presents several reflections on the competition series and a vision for future energy forecasting competitions.     

Long-term forecasting of fuel demand at theater entry points

Managing the distribution of fuel in theater requires Army fuel planners to forecast demand at the strategic level to ensure that fuel will be in the right place, at the right time, and in the amounts needed. This work presents a simulation approach to forecasting that accounts for the structure of the supply chain network when aggregating the demand of war fighters across the theater over the forecasting horizon. The resulting empirical distribution of demand at the theater entry point enables planners to identify forecast characteristics that impact their planning process, including the amplitudes and temporal positions of peaks in demand, and the estimated lead time to the point of use. Experimentation indicates that the forecasts are sensitive to the pattern of war fighter demand, the precise structure of the in-theater supply chain network, and the constraints and uncertainty present in the network, all of which are critical planning considerations.     

Combination of long term and short term forecasts, with application to tourism demand forecasting

Forecast combination is a well-established and well-tested approach for improving the forecasting accuracy. One beneficial strategy is to use constituent forecasts that have diverse information. In this paper we consider the idea of diversity being accomplished by using different time aggregations. For example, we could create a yearly time series from a monthly time series and produce forecasts for both, then combine the forecasts. These forecasts would each be tracking the dynamics of different time scales, and would therefore add diverse types of information. A comparison of several forecast combination methods, performed in the context of this setup, shows that this is indeed a beneficial strategy and generally provides a forecasting performance that is better than the performances of the individual forecasts that are combined.As a case study, we consider the problem of forecasting monthly tourism numbers for inbound tourism to Egypt. Specifically, we consider 33 individual source countries, as well as the aggregate. The novel combination strategy also produces a generally improved forecasting accuracy.     

Combining vector forecasts to predict thoroughbred horse race outcomes

A large body of empirical studies has shown that a forecast developed by combining individual base forecasts performs surprisingly well. Previous work on the combination of forecasts has been confined to the area of time series forecasting. This work extends the combination of forecasts technique into the domain of forecasting one-time competitive events, specifically the scaled, relative finishing position of horses in thoroughbred sprint races. The present research develops a framework for the selection of the base forecasts and selects 12 base forecasts for analysis. The performance of the combination of the base forecasts is assessed on a sample of sprint races. Results of the analysis strongly suggest that the combination approach is both appropriate and effective. Some differences in results between this work and previous work in the time series domain suggest promising avenues for future research.     

Forecasting tourist arrivals using time-varying parameter structural time series models

Empirical evidence has shown that seasonal patterns of tourism demand and the effects of various influencing factors on this demand tend to change over time. To forecast future tourism demand accurately requires appropriate modelling of these changes. Based on the structural time series model (STSM) and the time-varying parameter (TVP) regression approach, this study develops the causal STSM further by introducing TVP estimation of the explanatory variable coefficients, and therefore combines the merits of the STSM and TVP models. This new model, the TVP-STSM, is employed for modelling and forecasting quarterly tourist arrivals to Hong Kong from four key source markets: China, South Korea, the UK and the USA. The empirical results show that the TVP-STSM outperforms all seven competitors, including the basic and causal STSMs and the TVP model for one- to four-quarter-ahead ex post forecasts and one-quarter-ahead ex ante forecasts.     

An ensemble approach to GEFCom2017 probabilistic load forecasting

We present an ensembling approach to medium-term probabilistic load forecasting which ranked second out of 73 competitors in the defined data track of the GEFCom2017 qualifying match. In addition to being accurate, the ensemble method is highly scalable, due to the fact that it had to be applied to nine quantiles in ten zones and for six rounds. Candidate forecasts were generated using random settings for input data, covariates, and learning algorithms. The best candidate forecasts were averaged to create the final forecast, with the number of candidate forecasts being chosen based on their accuracy in similar validation periods.     

Forecasting the M4 competition weekly data: Forecast Pro’s winning approach

Forecast Pro forecasted the weekly series in the M4 competition more accurately than all other entrants. Our approach was to follow the same forecasting process that we recommend to our users. This approach involves determining the Key Performance Metric (KPI), establishing baseline forecasts using our automated expert selection algorithm, reviewing those baseline forecasts and customizing forecasts where needed. This article explores why this approach worked well for weekly data, discusses the applicability of the M4 competition to business forecasting and proposes some potential improvements for future competitions to make them more relevant to business forecasting.     

DeepAR: Probabilistic forecasting with autoregressive recurrent networks

Probabilistic forecasting, i.e., estimating a time series’ future probability distribution given its past, is a key enabler for optimizing business processes. In retail businesses, for example, probabilistic demand forecasts are crucial for having the right inventory available at the right time and in the right place. This paper proposes DeepAR, a methodology for producing accurate probabilistic forecasts, based on training an autoregressive recurrent neural network model on a large number of related time series. We demonstrate how the application of deep learning techniques to forecasting can overcome many of the challenges that are faced by widely-used classical approaches to the problem. By means of extensive empirical evaluations on several real-world forecasting datasets, we show that our methodology produces more accurate forecasts than other state-of-the-art methods, while requiring minimal manual work.     

LoMEF: A framework to produce local explanations for global model time series forecasts

Global forecasting models (GFMs) that are trained across a set of multiple time series have shown superior results in many forecasting competitions and real-world applications compared with univariate forecasting approaches. One aspect of the popularity of statistical forecasting models such as ETS and ARIMA is their relative simplicity and interpretability (in terms of relevant lags, trend, seasonality, and other attributes), while GFMs typically lack interpretability, especially relating to particular time series. This reduces the trust and confidence of stakeholders when making decisions based on the forecasts without being able to understand the predictions. To mitigate this problem, we propose a novel local model-agnostic interpretability approach to explain the forecasts from GFMs. We train simpler univariate surrogate models that are considered interpretable (e.g., ETS) on the predictions of the GFM on samples within a neighbourhood that we obtain through bootstrapping, or straightforwardly as the one-step-ahead global black-box model forecasts of the time series which needs to be explained. After, we evaluate the explanations for the forecasts of the global models in both qualitative and quantitative aspects such as accuracy, fidelity, stability, and comprehensibility, and are able to show the benefits of our approach.     

Forecasting and turning point predictions in a Bayesian panel VAR model

We provide methods for forecasting variables and predicting turning points in panel Bayesian VARs. We specify a flexible model, which accounts for both interdependencies in the cross section and time variations in the parameters. Posterior distributions for the parameters are obtained for hierarchical and for Minnesota-type priors. Formulas for multistep, multiunit point and average forecasts are provided. An application to the problem of forecasting the growth rate of output and of predicting turning points in the G-7 illustrates the approach. A comparison with alternative forecasting methods is also provided.     

Distributed ARIMA models for ultra-long time series

Providing forecasts for ultra-long time series plays a vital role in various activities, such as investment decisions, industrial production arrangements, and farm management. This paper develops a novel distributed forecasting framework to tackle the challenges of forecasting ultra-long time series using the industry-standard MapReduce framework. The proposed model combination approach retains the local time dependency. It utilizes a straightforward splitting across samples to facilitate distributed forecasting by combining the local estimators of time series models delivered from worker nodes and minimizing a global loss function. Instead of unrealistically assuming the data generating process (DGP) of an ultra-long time series stays invariant, we only make assumptions on the DGP of subseries spanning shorter time periods. We investigate the performance of the proposed approach with AutoRegressive Integrated Moving Average (ARIMA) models using the real data application as well as numerical simulations. Our approach improves forecasting accuracy and computational efficiency in point forecasts and prediction intervals, especially for longer forecast horizons, compared to directly fitting the whole data with ARIMA models. Moreover, we explore some potential factors that may affect the forecasting performance of our approach.     

An accurate and fully-automated ensemble model for weekly time series forecasting

Many businesses and industries require accurate forecasts for weekly time series nowadays. However, the forecasting literature does not currently provide easy-to-use, automatic, reproducible and accurate approaches dedicated to this task. We propose a forecasting method in this domain to fill this gap, leveraging state-of-the-art forecasting techniques, such as forecast combination, meta-learning, and global modelling. We consider different meta-learning architectures, algorithms, and base model pools. Based on all considered model variants, we propose to use a stacking approach with lasso regression which optimally combines the forecasts of four base models: a global Recurrent Neural Network (RNN) model, Theta, Trigonometric Box–Cox ARMA Trend Seasonal (TBATS), and Dynamic Harmonic Regression ARIMA (DHR-ARIMA), as it shows the overall best performance across seven experimental weekly datasets on four evaluation metrics. Our proposed method also consistently outperforms a set of benchmarks and state-of-the-art weekly forecasting models by a considerable margin with statistical significance. Our method can produce the most accurate forecasts, in terms of mean sMAPE, for the M4 weekly dataset among all benchmarks and all original competition participants.     

The performance of the global bottom-up approach in the M5 accuracy competition: A robustness check

The M5 accuracy competition has presented a large-scale hierarchical forecasting problem in a realistic grocery retail setting in order to evaluate an extended range of forecasting methods, particularly those adopting machine learning. The top ranking solutions adopted a global bottom-up approach, by which is meant using global forecasting methods to generate bottom level forecasts in the hierarchy and then using a bottom-up strategy to obtain coherent forecasts for aggregate levels. However, whether the observed superior performance of the global bottom-up approach is robust over various test periods or only an accidental result, is an important question for retail forecasting researchers and practitioners. We conduct experiments to explore the robustness of the global bottom-up approach, and make comments on the efforts made by the top-ranking teams to improve the core approach. We find that the top-ranking global bottom-up approaches lack robustness across time periods in the M5 data. This inconsistent performance makes the M5 final rankings somewhat of a lottery. In future forecasting competitions, we suggest the use of multiple rolling test sets to evaluate the forecasting performance in order to reward robustly performing forecasting methods, a much needed characteristic in any application.     

The M5 competition: Background,organization, and implementation

The M5 competition follows the previous four M competitions, whose purpose is to learn from empirical evidence how to improve forecasting performance and advance the theory and practice of forecasting. M5 focused on a retail sales forecasting application with the objective to produce the most accurate point forecasts for 42,840 time series that represent the hierarchical unit sales of the largest retail company in the world, Walmart, as well as to provide the most accurate estimates of the uncertainty of these forecasts. Hence, the competition consisted of two parallel challenges, namely the Accuracy and Uncertainty forecasting competitions. M5 extended the results of the previous M competitions by: (a) significantly expanding the number of participating methods, especially those in the category of machine learning; (b) evaluating the performance of the uncertainty distribution along with point forecast accuracy; (c) including exogenous/explanatory variables in addition to the time series data; (d) using grouped, correlated time series; and (e) focusing on series that display intermittency. This paper describes the background, organization, and implementations of the competition, and it presents the data used and their characteristics. Consequently, it serves as introductory material to the results of the two forecasting challenges to facilitate their understanding.     

fETSmcs: Feature-based ETS model component selection

The well-developed ETS (ExponenTial Smoothing, or Error, Trend, Seasonality) method incorporates a family of exponential smoothing models in state space representation and is widely used for automatic forecasting. The existing ETS method uses information criteria for model selection by choosing an optimal model with the smallest information criterion among all models fitted to a given time series. The ETS method under such a model selection scheme suffers from computational complexity when applied to large-scale time series data. To tackle this issue, we propose an efficient approach to ETS model selection by training classifiers on simulated data to predict appropriate model component forms for a given time series. We provide a simulation study to show the model selection ability of the proposed approach on simulated data. We evaluate our approach on the widely used M4 forecasting competition dataset in terms of both point forecasts and prediction intervals. To demonstrate the practical value of our method, we showcase the performance improvements from our approach on a monthly hospital dataset.     

The tourism forecasting competition

We evaluate the performances of various methods for forecasting tourism data. The data used include 366 monthly series, 427 quarterly series and 518 annual series, all supplied to us by either tourism bodies or academics who had used them in previous tourism forecasting studies. The forecasting methods implemented in the competition are univariate and multivariate time series approaches, and econometric models. This forecasting competition differs from previous competitions in several ways: (i) we concentrate on tourism data only; (ii) we include approaches with explanatory variables; (iii) we evaluate the forecast interval coverage as well as the point forecast accuracy; (iv) we observe the effect of temporal aggregation on the forecasting accuracy; and (v) we consider the mean absolute scaled error as an alternative forecasting accuracy measure. We find that pure time series approaches provide more accurate forecasts for tourism data than models with explanatory variables. For seasonal data we implement three fully automated pure time series algorithms that generate accurate point forecasts, and two of these also produce forecast coverage probabilities which are satisfactorily close to the nominal rates. For annual data we find that Naïve forecasts are hard to beat.     

Stochastic demographic forecasting

"This paper describes a particular approach to stochastic population forecasting, which is implemented for the U.S.A. through 2065. Statistical time series methods are combined with demographic models to produce plausible long run forecasts of vital rates, with probability distributions. The resulting mortality forecasts imply gains in future life expectancy that are roughly twice as large as those forecast by the Office of the Social Security Actuary....Resulting stochastic forecasts of the elderly population, elderly dependency ratios, and payroll tax rates for health, education and pensions are presented."