Model

PeMSD4

PeMSD8

MAE

RMSE

MAPE

MAE

RMSE

MAPE

HA

38.03

59.24

27.88%

34.86

52.04

24.07%

VAR

23.75

36.66

18.09%

23.46

36.33

15.42%

LSTM

26.94

41.38

17.80%

22.02

33.74

13.61%

DCRNN

24.48

37.86

16.75%

17.83

27.78

12.42%

STGCN

22.06

34.80

16.20%

17.88

27.63

12.30%

Graph Wave-Net

22.13

33.94

16.05%

17.49

26.15

12.21%

ASTGCN

21.80

32.82

15.80%

16.63

25.27

12.18%

STGAL (ours)

19.89

31.71

14.84%

15.77

24.42

11.54%

Improvements

+8.76%

+3.38%

+6.07%

+5.17%

+3.36%

+5.25%