Advancing Multivariate Time Series Anomaly Detection: A Comprehensive Benchmark with Real-World Data from Alibaba Cloud

Time series anomaly detection is of significant importance in many real-world applications, including finance, healthcare, network security, industrial equipment, complex computing systems, and space probes. Most of these applications involve multi-sensor systems, thus how to perform multivariate time series anomaly detection (MTSAD) has garnered widespread attention. This broad attention has fueled extensive research endeavors aimed to innovate and develop methods and techniques to improve the efficiency and precision of anomaly detection on multivariate time series data, including both classic machine learning methods and deep learning methods. However, evaluating the performance of these methods remains challenging due to the limited availability of public benchmark datasets for MTSAD, which are often criticized for various reasons. Additionally, there is no consensus on the best metrics for time series anomaly detection, further complicating MTSAD research. In this paper, we advance the benchmarking of time series anomaly detection by addressing datasets, evaluation metrics, and algorithm comparison. To the best of our knowledge, we have generated the largest real-world datasets for MTSAD using the Hologres AIOps system in the Alibaba Cloud platform. We review and compare popular evaluation metrics including recently proposed ones. To evaluate classic machine learning and recent deep learning methods fairly, we have conducted extensive comparisons of these methods on various datasets. We believe that our benchmarks and datasets will promote reproducible results and accelerate the progress of MTSAD research.