Table 7.

Time series forecasting results for CWRU datasets.

Metric	CNN [15]	Deep RNNs [38]	LSTM [17]	Transformer  [31]	Informer
MAE	$1.8874\times {10}^{-2}$	$2.3855\times {10}^{-2}$	$2.3506\times {10}^{-2}$	$2.0524\times {10}^{-2}$	$1.7163\times {10}^{-2}$
MSE	$5.8046\times {10}^{-4}$	$9.7260\times {10}^{-4}$	$8.5439\times {10}^{-4}$	$6.7416\times {10}^{-4}$	$4.6574\times {10}^{-4}$
RMSE	$2.4092\times {10}^{-2}$	$3.1186\times {10}^{-2}$	$2.9230\times {10}^{-2}$	$2.5964\times {10}^{-2}$	$2.1581\times {10}^{-2}$
Running Time (s)	480	600	500	5726	162