Multivariate Long-term Time Series Forecasting with Fourier Neural Filter

Chenheng Xu¹'²'³ Dan Wu¹ Yixin Zhu²'³'⁴'✉ Ying Nian Wu¹'✉
c.xu@ucla.edu wudan11@ucla.edu yixin.zhu@pku.edu.cn ywu@stat.ucla.edu
¹ Department of Statistics & Data Science, UCLA
² School of Psychological and Cognitive Sciences, Peking University
³ Institute for Artificial Intelligence, Peking University
⁴ Beijing Key Laboratory of Behavior and Mental Health, Peking University
https://chenheng-xu.github.io/fnf-time-series/

📋 Table of Contents

Abstract

Multivariate long-term time series forecasting has been suffering from the challenge of capturing both temporal dependencies within variables and spatial correlations across variables simultaneously. Current approaches predominantly repurpose backbones from natural language processing or computer vision (e.g., Transformers), which fail to adequately address the unique properties of time series (e.g., periodicity). The research community lacks a dedicated backbone with temporal-specific inductive biases, instead relying on domain-agnostic backbones supplemented with auxiliary techniques (e.g., signal decomposition). We introduce Fourier Neural Filter (FNF) as the backbone and Dual-Branch Design (DBD) as the architecture to provide excellent learning capabilities and optimal learning pathways for spatio-temporal modeling, respectively. Our theoretical analysis proves that FNF unifies local time-domain and global frequency-domain information processing within a single backbone that extends naturally to spatial modeling, while information bottleneck theory demonstrates that DBD provides superior gradient flow and representation capacity compared to existing unified or sequential architectures. Our empirical evaluation across 11 public benchmark datasets spanning five domains (energy, meteorology, transportation, environment, and nature) confirms state-of-the-art performance with consistent hyperparameter settings. Notably, our approach achieves these results without any auxiliary techniques, suggesting that properly designed neural architectures can capture the inherent properties of time series, potentially transforming time series modeling in scientific and industrial applications.

🚀 Quick Results

Our proposed FNF achieves state-of-the-art performance across comprehensive benchmarks:

11
Benchmark Datasets
5
Domains Covered
O(N log N)
Computational Complexity

✨ Consistent SOTA performance across Energy, Meteorology, Transportation, Environment, and Nature domains

🔬 Method Overview

Our approach introduces two key innovations for multivariate long-term time series forecasting:

🌊 Fourier Neural Filter (FNF)

  • Input-dependent kernel: Adaptive information flow based on input properties
  • Dual-branch design: Parallel time-domain and frequency-domain processing
  • Selective activation: Hadamard product for modulating local and global information
  • Complex operations: Advanced frequency-domain transformations with Softshrink denoising
  • Unified backbone: No auxiliary techniques required

🔀 Dual-Branch Design (DBD)

  • Parallel architecture: Independent temporal and spatial processing branches
  • Information bottleneck: Optimal trade-offs between extraction and compression
  • Superior gradient flow: Direct pathways prevent cascading information loss
  • Enhanced representation: Better capacity vs. unified/sequential approaches
  • Scalable design: Handles high-dimensional multivariate series

Key Insight: By designing temporal-specific inductive biases directly into the backbone architecture, FNF naturally captures the inherent properties of time series without relying on auxiliary signal decomposition techniques.

Figures

Radar Chart Performance Comparison
Figure 1: Radar chart of forecasting performance across 11 benchmark datasets spanning five domains. The chart displays average MAE across different forecast horizons of 96, 192, 336, 720. Our proposed FNF (highlighted) consistently outperforms eight strong baseline models on diverse domains of energy, weather, transportation, environment, and nature with consistent hyperparameter settings.
FNF Backbone Architecture
Figure 2: The FNF backbone. Our dual-branch design processes input embeddings through parallel expanded linear layers. The right branch captures time-domain patterns via GELU activation, while the left branch extracts frequency-domain features through Fourier transform, complex operations (two complex linear layers with Softshrink function), and inverse Fourier transform. The branches are combined via Hadamard product (⊙), enabling simultaneous modeling of local temporal and global spectral information.
Dual-Branch Design Architecture
Figure 3: The Dual-Branch Design (DBD) architecture. Each approach processes multivariate time series in shape (B, M, L, D) differently: (a) Unified: single backbone simultaneously models temporal and spatial patterns; (b) Sequential: cascades temporal filter followed by spatial filter; (c) Parallel: applies independent temporal and spatial filters in separate branches. Our DBD implements the parallel design to effectively perform temporal and spatial modeling.
Complete Model Schematic
Figure 4: Complete model schematic. The overall architecture showing the data flow from input preprocessing through the dual-branch FNF backbone to final prediction output. The model integrates instance normalization, patch embedding, parallel temporal and spatial processing branches, and linear projection for forecasting.

Experimental Results

⬅️ Scroll horizontally to view all models and results ➡️

Dataset Horizon FNF (Ours) PatchTST Crossformer Pathformer iTransformer TimeMixer DLinear NLinear TimesNet
MSE MAE MSE MAE MSE MAE MSE MAE MSE MAE MSE MAE MSE MAE MSE MAE MSE MAE
ETTh1960.3550.3880.3760.3960.4050.4260.3720.3920.3860.4050.3720.4010.3710.3920.3720.3930.3890.412
1920.3960.4120.3990.4160.4130.4420.4080.4150.4240.4400.4130.4300.4040.4130.4050.4130.4400.443
3360.4250.4250.4180.4320.4420.4600.4380.4340.4490.4600.4380.4500.4340.4350.4290.4270.4820.465
7200.4360.4450.4500.4690.5500.5390.4500.4630.4950.4870.4860.4840.4690.4890.4360.4520.5250.501
Avg0.4030.4170.4100.4280.4520.4660.4170.4260.4380.4480.4270.4410.4190.4320.4100.4210.4590.455
ETTh2960.2660.3260.2770.3390.6110.5570.2790.3360.2970.3480.2810.3510.3020.3680.2750.3380.3190.363
1920.3310.3710.3450.3810.8100.6510.3450.3800.3720.4030.3490.3870.4050.4330.3360.3790.4110.416
3360.3360.3880.3680.4040.9280.6980.3780.4080.3880.4170.3660.4130.4960.4900.3620.4030.4150.443
7200.3780.4180.3970.4321.0940.7750.4370.4550.4240.4440.4010.4360.7660.6220.3960.4370.4290.445
Avg0.3270.3750.3460.3890.8600.6700.3590.3940.3700.4030.3490.3960.4920.4780.3420.3890.3930.416
ETTm1960.2860.3300.2900.3430.3100.3610.2900.3350.3000.3530.2930.3450.2990.3430.3010.3430.3770.398
1920.3240.3560.3290.3680.3630.4020.3370.3630.3410.3800.3350.3720.3340.3640.3370.3650.4050.411
3360.3580.3760.3600.3900.4080.4300.3740.3840.3740.3940.3680.3860.3650.3840.3710.3840.4430.437
7200.4230.4100.4160.4220.7770.6370.4280.4160.4290.4300.4260.4170.4180.4150.4260.4150.4950.464
Avg0.3470.3680.3480.3800.4640.4570.3570.3740.3610.3890.3550.3800.3540.3760.3580.3760.4300.427
ETTm2960.1580.2440.1650.2540.2630.3590.1640.2500.1750.2660.1650.2560.1640.2550.1630.2520.1900.266
1920.2140.2820.2210.2920.3610.4250.2190.2880.2420.3120.2250.2980.2240.3040.2180.2900.2510.308
3360.2670.3170.2750.3250.4690.4960.2670.3190.2820.3370.2770.3320.2770.3370.2730.3260.3220.350
7200.3600.3790.3600.3801.2630.8570.3610.3770.3750.3940.3600.3870.3710.4010.3610.3820.4140.403
Avg0.2490.3050.2550.3120.5890.5340.2520.3080.2680.3270.2560.3180.2590.3240.2530.3120.2940.331
Electricity960.1280.2190.1330.2330.1350.2370.1350.2220.1340.2300.1530.2560.1400.2370.1410.2360.1640.267
1920.1450.2360.1500.2480.1600.2620.1570.2530.1540.2500.1680.2690.1540.2500.1550.2480.1800.280
3360.1570.2500.1680.2670.1820.2820.1700.2670.1690.2650.1890.2910.1690.2680.1710.2640.1900.292
7200.2010.2860.2020.2950.2460.3370.2110.3020.1940.2880.2280.3200.2040.3010.2100.2970.2090.307
Avg0.1570.2470.1630.2600.1800.2790.1680.2610.1620.2580.1840.2840.1660.2640.1690.2610.1850.286
Weather960.1490.1880.1490.1960.1460.2120.1480.1950.1570.2070.1470.1980.1700.2300.1790.2220.1700.219
1920.1940.2320.1930.2400.1950.2610.1910.2350.2000.2480.1920.2430.2120.2670.2180.2610.2220.264
3360.2480.2740.2440.2810.2680.3250.2430.2740.2520.2870.2470.2840.2570.3050.2660.2960.2930.310
7200.3160.3260.3140.3320.3300.3800.3180.3260.3200.3360.3180.3300.3180.3560.3340.3440.3600.355
Avg0.2260.2550.2250.2620.2340.2940.2250.2570.2320.2690.2260.2630.2390.2890.2490.2800.2610.287
Traffic960.3790.2420.3790.2710.5140.2820.3840.2500.3630.2650.3690.2570.4100.2820.4100.2790.6000.313
1920.3930.2480.3940.2770.5010.2730.4050.2570.3840.2730.4000.2720.4230.2880.4230.2840.6190.328
3360.4010.2530.4040.2810.5070.2790.4240.2650.3960.2770.4070.2720.4360.2960.4360.2910.6270.330
7200.4380.2730.4420.3020.5710.3010.4520.2830.4450.3080.4610.3160.4660.3150.4640.3080.6590.342
Avg0.4020.2540.4040.2820.5230.2830.4160.2630.3970.2800.4090.2790.4330.2950.4330.2900.6260.328
AQShunyi960.6290.4610.6480.4810.6520.4840.6670.4720.6500.4790.6540.4830.6510.4920.6530.4860.6580.488
1920.6850.4840.6900.5010.6740.4990.7070.4910.6930.4980.7000.4980.6910.5120.7010.5060.7070.511
3360.7040.4970.7110.5150.7040.5150.7320.5030.7130.5100.7150.5100.7160.5290.7220.5190.7850.537
7200.7640.5220.7700.5380.7470.5180.7830.5150.7660.5370.7560.5340.7650.5560.7770.5450.7550.527
Avg0.6950.4910.7040.5080.6940.5040.7220.4950.7050.5060.7060.5060.7050.5220.7130.5140.7260.515
AQWan960.7110.4460.7450.4700.7500.4650.7610.4580.7470.4700.7440.4680.7560.4810.7580.4750.7910.488
1920.7730.4730.7920.4910.7620.4790.8010.4780.7870.4860.8040.4880.8000.5020.8090.4960.7790.490
3360.7990.4860.8190.5030.8020.5040.8210.4880.8140.4970.8130.5000.8230.5160.8300.5080.8140.505
7200.5880.4830.5740.4990.5430.4830.5960.4830.5910.5010.5880.4980.5480.4860.5950.5040.6270.511
Avg0.5150.4380.5110.4650.4820.4470.5200.4410.5220.4560.5170.4510.4960.4510.5220.4570.5370.465
CzeLan960.1700.2080.1830.2510.5810.4430.1720.2130.1770.2390.1750.2300.2110.2890.1780.2290.1760.237
1920.2000.2310.2080.2710.7050.5030.2070.2360.2010.2570.2060.2540.2520.3230.2100.2520.2150.279
3360.2280.2570.2430.3020.9710.5960.2400.2620.2320.2820.2300.2770.3170.3660.2430.2800.2240.288
7200.2620.2860.2730.3351.5660.7620.2880.2980.2610.3110.2620.3090.3580.3920.2840.3170.2820.337
Avg0.2150.2450.2260.2890.9550.5760.2260.2520.2170.2720.2180.2670.2840.3420.2280.2690.2240.285
ZafNoo960.4370.3890.4440.4260.4320.4190.4350.3910.4390.4080.4410.3960.4340.4110.4460.4100.4790.424
1920.4980.4290.4980.4560.4320.4190.5010.4320.5050.4430.4980.4440.4840.4440.5030.4470.4910.446
3360.5390.4530.5300.4800.5210.4690.5510.4610.5550.4730.5430.4660.5180.4640.5440.4700.5510.479
7200.5880.4830.5740.4990.5430.4830.5960.4830.5910.5010.5880.4980.5480.4860.5950.5040.6270.511
Avg0.5150.4380.5110.4650.4820.4470.5200.4410.5220.4560.5170.4510.4960.4510.5220.4570.5370.465

Table A3: Comprehensive experimental results on multivariate long-term forecasting. Best results in bold, second-best underlined. FNF consistently outperforms baseline models across different datasets and forecast horizons, demonstrating superior performance in both MSE and MAE metrics. Note: This shows a subset of datasets. The complete table with all 11 datasets (ETTh1, ETTh2, ETTm1, ETTm2, Electricity, Weather, Traffic, AQShunyi, AQWan, CzeLan, ZafNoo) and all 9 baseline models is available in the full paper.