# Spatio-temporal forecasting on PEMS-BAY (20% test)

Source: [Spatio-temporal forecasting on PEMS-BAY (20% test)](<https://www.sota2.com/research/sota/spatio-temporal-forecasting-on-pems-bay-20-percent-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-20T07:54:38.367Z

Evaluation of models for spatio-temporal forecasting performance on the 20% test split of the PEMS-BAY traffic dataset, reporting MAE and RMSE.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Spatio-temporal forecasting |
| Dataset (including any stated split) | PEMS-BAY (20% test) |
| Metric | MAE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 30 of 30 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [MAE](<https://www.sota2.com/research/sota/spatio-temporal-forecasting-on-pems-bay-20-percent-test.md?metric=MAE>): Lower is better; unit: SCALAR.

- [RMSE](<https://www.sota2.com/research/sota/spatio-temporal-forecasting-on-pems-bay-20-percent-test.md?metric=RMSE>): Lower is better; unit: SCALAR.

## Recorded results

| Method | MAE | Result date | Report paper |
| --- | --- | --- | --- |
| GWavenet + RRN | 1.28 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN + RRN | 1.32 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GWavenet | 1.33 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN + RRN | 1.34 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN + RRN | 1.34 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN | 1.36 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN | 1.37 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN + RRN | 1.39 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN | 1.39 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN | 1.42 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GWavenet + RRN | 1.63 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GWavenet | 1.67 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN + RRN | 1.67 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN + RRN | 1.67 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN + RRN | 1.68 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN | 1.71 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN | 1.72 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN | 1.77 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN + RRN | 1.81 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN | 1.87 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN + RRN | 1.97 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN + RRN | 1.99 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GWavenet | 2.01 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GWavenet + RRN | 2.01 | Not recorded | 69e5b2df7d0172140ec7de29 |
| GMAN | 2.01 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN + RRN | 2.01 | Not recorded | 69e5b2df7d0172140ec7de29 |
| Auto-DSTSGN | 2.04 | Not recorded | 69e5b2df7d0172140ec7de29 |
| STPGNN | 2.15 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN + RRN | 2.33 | Not recorded | 69e5b2df7d0172140ec7de29 |
| DCRNN | 2.43 | Not recorded | 69e5b2df7d0172140ec7de29 |

### GWavenet + RRN

MAE: 1.28. Result ID: 69e5dbbb47f34ce924cbd2d2.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"Graph WaveNet","RRN Integration":"true"}. This record does not assert independent reproduction.

### Auto-DSTSGN + RRN

MAE: 1.32. Result ID: 69e5dbbb47f34ce924cbd2d6.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"Auto-DSTSGN","RRN Integration":"true"}. This record does not assert independent reproduction.

### GWavenet

MAE: 1.33. Result ID: 69e5dbbb47f34ce924cbd2d1.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65d51e209131cea0c8f9.md>)

[Implementation](<https://github.com/nnzhan/Graph-WaveNet>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"Graph WaveNet","RRN Integration":"false"}. This record does not assert independent reproduction.

### GMAN + RRN

MAE: 1.34. Result ID: 69e5dbbb47f34ce924cbd2d8.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"GMAN","RRN Integration":"true"}. This record does not assert independent reproduction.

### STPGNN + RRN

MAE: 1.34. Result ID: 69e5dbbb47f34ce924cbd2da.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"STPGNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### Auto-DSTSGN

MAE: 1.36. Result ID: 69e5dbbb47f34ce924cbd2d5.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d121e209131cea37724.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"Auto-DSTSGN","RRN Integration":"false"}. This record does not assert independent reproduction.

### GMAN

MAE: 1.37. Result ID: 69e5dbbb47f34ce924cbd2d7.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66b71e209131cea120dc.md>)

[Implementation](<https://github.com/zhengchuanpan/GMAN>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"GMAN","RRN Integration":"false"}. This record does not assert independent reproduction.

### DCRNN + RRN

MAE: 1.39. Result ID: 69e5dbbb47f34ce924cbd2d4.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"DCRNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### STPGNN

MAE: 1.39. Result ID: 69e5dbbb47f34ce924cbd2d9.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"STPGNN","RRN Integration":"false"}. This record does not assert independent reproduction.

### DCRNN

MAE: 1.42. Result ID: 69e5dbbb47f34ce924cbd2d3.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64131e209131cea0293d.md>)

[Implementation](<https://github.com/liyaguang/DCRNN>)

Recorded evaluation configuration: {"Horizon":"3","Backbone":"DCRNN","RRN Integration":"false"}. This record does not assert independent reproduction.

### GWavenet + RRN

MAE: 1.63. Result ID: 69e5dbbb47f34ce924cbd2dc.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"Graph WaveNet","RRN Integration":"true"}. This record does not assert independent reproduction.

### GWavenet

MAE: 1.67. Result ID: 69e5dbbb47f34ce924cbd2db.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65d51e209131cea0c8f9.md>)

[Implementation](<https://github.com/nnzhan/Graph-WaveNet>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"Graph WaveNet","RRN Integration":"false"}. This record does not assert independent reproduction.

### Auto-DSTSGN + RRN

MAE: 1.67. Result ID: 69e5dbbb47f34ce924cbd2e0.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"Auto-DSTSGN","RRN Integration":"true"}. This record does not assert independent reproduction.

### GMAN + RRN

MAE: 1.67. Result ID: 69e5dbbb47f34ce924cbd2e2.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"GMAN","RRN Integration":"true"}. This record does not assert independent reproduction.

### STPGNN + RRN

MAE: 1.68. Result ID: 69e5dbbb47f34ce924cbd2e4.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"STPGNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### GMAN

MAE: 1.71. Result ID: 69e5dbbb47f34ce924cbd2e1.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66b71e209131cea120dc.md>)

[Implementation](<https://github.com/zhengchuanpan/GMAN>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"GMAN","RRN Integration":"false"}. This record does not assert independent reproduction.

### Auto-DSTSGN

MAE: 1.72. Result ID: 69e5dbbb47f34ce924cbd2df.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d121e209131cea37724.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"Auto-DSTSGN","RRN Integration":"false"}. This record does not assert independent reproduction.

### STPGNN

MAE: 1.77. Result ID: 69e5dbbb47f34ce924cbd2e3.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"STPGNN","RRN Integration":"false"}. This record does not assert independent reproduction.

### DCRNN + RRN

MAE: 1.81. Result ID: 69e5dbbb47f34ce924cbd2de.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"DCRNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### DCRNN

MAE: 1.87. Result ID: 69e5dbbb47f34ce924cbd2dd.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64131e209131cea0293d.md>)

[Implementation](<https://github.com/liyaguang/DCRNN>)

Recorded evaluation configuration: {"Horizon":"6","Backbone":"DCRNN","RRN Integration":"false"}. This record does not assert independent reproduction.

### GMAN + RRN

MAE: 1.97. Result ID: 69e5dbbb47f34ce924cbd2ec.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"GMAN","RRN Integration":"true"}. This record does not assert independent reproduction.

### Auto-DSTSGN + RRN

MAE: 1.99. Result ID: 69e5dbbb47f34ce924cbd2ea.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"Auto-DSTSGN","RRN Integration":"true"}. This record does not assert independent reproduction.

### GWavenet

MAE: 2.01. Result ID: 69e5dbbb47f34ce924cbd2e5.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65d51e209131cea0c8f9.md>)

[Implementation](<https://github.com/nnzhan/Graph-WaveNet>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"Graph WaveNet","RRN Integration":"false"}. This record does not assert independent reproduction.

### GWavenet + RRN

MAE: 2.01. Result ID: 69e5dbbb47f34ce924cbd2e6.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"Graph WaveNet","RRN Integration":"true"}. This record does not assert independent reproduction.

### GMAN

MAE: 2.01. Result ID: 69e5dbbb47f34ce924cbd2eb.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66b71e209131cea120dc.md>)

[Implementation](<https://github.com/zhengchuanpan/GMAN>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"GMAN","RRN Integration":"false"}. This record does not assert independent reproduction.

### STPGNN + RRN

MAE: 2.01. Result ID: 69e5dbbb47f34ce924cbd2ee.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"STPGNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### Auto-DSTSGN

MAE: 2.04. Result ID: 69e5dbbb47f34ce924cbd2e9.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d121e209131cea37724.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"Auto-DSTSGN","RRN Integration":"false"}. This record does not assert independent reproduction.

### STPGNN

MAE: 2.15. Result ID: 69e5dbbb47f34ce924cbd2ed.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"STPGNN","RRN Integration":"false"}. This record does not assert independent reproduction.

### DCRNN + RRN

MAE: 2.33. Result ID: 69e5dbbb47f34ce924cbd2e8.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"DCRNN","RRN Integration":"true"}. This record does not assert independent reproduction.

### DCRNN

MAE: 2.43. Result ID: 69e5dbbb47f34ce924cbd2e7.

[Reporting paper](<https://www.sota2.com/research/paper/69e5b2df7d0172140ec7de29.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64131e209131cea0293d.md>)

[Implementation](<https://github.com/liyaguang/DCRNN>)

Recorded evaluation configuration: {"Horizon":"12","Backbone":"DCRNN","RRN Integration":"false"}. This record does not assert independent reproduction.

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