seq2graph: Discovering Dynamic Dependencies from Multivariate Time Series with Multi-level Attention

Discovering temporal lagged and inter-dependencies in multivariate time series data is an important task. However, in many real-world applications, such as commercial cloud management, manufacturing predictive maintenance, and portfolios performance analysis, such dependencies can be non-linear and time-variant, which makes it more challenging to extract such dependencies through traditional methods such as Granger causality or clustering. In this work, we present a novel deep learning model that uses multiple layers of customized gated recurrent units (GRUs) for discovering both time lagged behaviors as well as inter-timeseries dependencies in the form of directed weighted graphs. We introduce a key component of Dual-purpose recurrent neural network that decodes information in the temporal domain to discover lagged dependencies within each time series, and encodes them into a set of vectors which, collected from all component time series, form the informative inputs to discover inter-dependencies. Though the discovery of two types of dependencies are separated at different hierarchical levels, they are tightly connected and jointly trained in an end-to-end manner. With this joint training, learning of one type of dependency immediately impacts the learning of the other one, leading to overall accurate dependencies discovery. We empirically test our model on synthetic time series data in which the exact form of (non-linear) dependencies is known. We also evaluate its performance on two real-world applications, (i) performance monitoring data from a commercial cloud provider, which exhibit highly dynamic, non-linear, and volatile behavior and, (ii) sensor data from a manufacturing plant. We further show how our approach is able to capture these dependency behaviors via intuitive and interpretable dependency graphs and use them to generate highly accurate forecasts.