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Tim Pearce

Publications and source records attributed to Tim Pearce.

At least 19 recordsLinked to original sources

Full-bandwidth transformer

Autoregressive transformers compute along two axes: horizontally across generated tokens, and vertically through model depth. Dense attention gives each token broad horizontal access to the past, but the vertical feedback channel between decoding steps remains narrow: only the sampled token returns to the bottom of the stack, while the top-layer hidden state is discarded. We introduce the \emph{full-bandwidth transformer}, which widens this channel with \emph{latent feedback}: at each decoding step, the previous top-layer hidden state is fused with the sampled token embedding through a gated linear unit and fed back as the next input. Latent feedback lets non-verbalized computation re-enter the stack with a renewed depth budget, while preserving the standard transformer architecture, KV cache, and language-modeling objective. To train full-bandwidth transformers without losing parallel teacher forcing, we use a scheduled multi-pass objective that introduces latent feedback late in pretraining and mixes a small fraction of deeper feedback passes for stability. We train 1B-parameter full-bandwidth transformers up to 400B tokens and find that latent feedback improves validation loss, 5-shot language-model evaluation, math and coding generation, and instruction-tuned performance. With negligible per-token decoding overhead, full-bandwidth transformers match or approach standard transformers trained with roughly $1.5\times$ more tokens, and manage to produce shorter reasoning traces at equal or better accuracy.

cs.AI

Hierarchical Latent Prediction for Language Models

While standard Next-Token Prediction (NTP) lays the foundation of language model pre- training, its teacher-forced training paradigm may not be optimal for long-horizon reasoning and planning. Recent works such as Multi-Token Prediction (MTP) and Next-Latent prediction (NextLat) try to mitigate the problem through predicting multiple future tokens and self-supervised prediction in the latent space. However, those auxiliary objectives either have a limited horizon or suffer from compounding error from multi-step rollout. We introduce Hierarchical Latent Prediction (HiLP), which introduces an auxiliary higher-level abstract latent to help reduce the error accumulation effect in latent-space rollouts. Experiments show that HiLP can lead to longer-horizon coherent belief state representation and demonstrate the effectiveness of our method across coding and multi-step reasoning benchmarks, and offers more speculative decoding efficiency.

cs.CL

JWST NIRCam Reveals the Largest Known M-dwarf Debris Disk Around TWA 10 and New Scattered-Light Observations of the TWA 25 Debris Disk

We present JWST NIRCam observations of two M-dwarf systems located in the TW Hydra association, TWA 10 and TWA 25. Both systems harbor detected debris disks in the F200W and F444W filters. Whereas the TWA 25 disk has been previously imaged, these observations represent the discovery and first images of the TWA 10 disk. In addition to planet searches within these systems, we also conduct an analysis of each debris disk, where the TWA 10 debris disk is characterized for the first time. We find that the TWA 10 debris disk is very large, with a radius of $\sim$191 au, significantly greater than other known M-dwarf debris disks. The TWA 25 disk hosts a sharp inner dust surface density power-law and a moderate brightness asymmetry present at 2 $\mu$m, suggesting potential sculpting from inner planets and potentially enhanced collisional activity. Finally, we find one potential companion candidate within the TWA 10 system and two within the TWA 25 system, although the measured F200W-F444W color suggests that these candidates are likely background objects. Both systems do not have measured IR-excesses in their SEDs, where radiative-transfer modeling suggests that these disks (and potentially more M-dwarf disks) were likely missed by previous disk detection surveys due to having low luminosity fractions.

astro-ph.EP

Detecting habitable exoplanet atmospheres with LIFE, the Large Interferometer for Exoplanets

A key goal of astronomers with the next generation telescopes is to detect signs of life in exoplanet atmospheres. NASA's next flagship is the Habitable Worlds Observatory (HWO). In the context of ESA's Voyage 2050 program, the Senior Committee report prioritises detecting habitable exoplanet atmospheres in the mid-IR. The most suited mission for this is the Large Interferometer for Exoplanets (LIFE) which can detect an even wider range of biosignatures than HWO and at lower concentrations. LIFE is a global science collaboration based out of ETH Z\"urich. With the UK's expertise in building infrared instruments we could play a leading role in realising an ambitious European-led mission. Notably, LIFE is able to detect necessary planetary context like surface temperature and pressure, along with a key discriminator molecule for biosignature false positives, methane, which will be much harder or impossible with HWO. Also, LIFE will be able to investigate many of the nearby rocky exoplanets known from radial velocity searches that are inaccessible to HWO due to its limited spatial resolution.

astro-ph.IM

The evolution of exocomets and their source populations

We review the current state of knowledge of the long-term evolution of the small bodies that give rise to comets and exocomets, as well as their reservoirs. The active cometary phase is only transitory, and bodies that become comets pass from a source population, such as the Kuiper Belt, Oort Cloud or their extra-solar analogues, through the active cometary phase, to eventual dormancy or destruction. We discuss dynamical delivery channels that can move comets from their source reservoirs to orbits with small periapsides, and the depletion of these reservoirs by dynamical and collisional means. We also discuss the physical evolution of cometary nuclei, especially in light of recent advances from missions to Solar System comets such as Rosetta's visit to 67P. We then describe our current knowledge of interstellar objects, which can originate from the same source regions as exocomets but be amenable to detailed study when they enter the Solar System. We include a summary of stellar winds emanating from different types of stars, which become increasingly strong once stars leave the Main Sequence. This is followed by a description of how small bodies are affected by stellar evolution, and the range of comet-like phenomena observed towards white dwarf stars. Overall, while we have an increasingly good picture of the physical and dynamical evolution of Solar System comets, a number of large gaps remain in our knowledge of the physics of exocomets, related to our inability to directly probe these bodies and many of the planets that might be affecting their orbits.

astro-ph.EP

Learning Additively Compositional Latent Actions for Embodied AI

Latent action learning infers pseudo-action labels from visual transitions, providing an approach to leverage internet-scale video for embodied AI. However, most methods learn latent actions without structural priors that encode the additive, compositional structure of physical motion. As a result, latents often entangle irrelevant scene details or information about future observations with true state changes and miscalibrate motion magnitude. We introduce Additively Compositional Latent Action Model (AC-LAM), which enforces scene-wise additive composition structure over short horizons on the latent action space. These AC constraints encourage simple algebraic structure in the latent action space~(identity, inverse, cycle consistency) and suppress information that does not compose additively. Empirically, AC-LAM learns more structured, motion-specific, and displacement-calibrated latent actions and provides stronger supervision for downstream policy learning, outperforming state-of-the-art LAMs across simulated and real-world tabletop tasks.

cs.CV

Beyond Pixel Histories: World Models with Persistent 3D State

Interactive world models continually generate video by responding to a user's actions, enabling open-ended generation capabilities. However, existing models typically lack a 3D representation of the environment, meaning 3D consistency must be implicitly learned from data, and spatial memory is restricted to limited temporal context windows. This results in an unrealistic user experience and presents significant obstacles to downstream tasks such as training agents. To address this, we present PERSIST, a new paradigm of world model which simulates the evolution of a latent 3D scene: environment, camera, and renderer. This allows us to synthesise new frames with persistent spatial memory and consistent geometry. Both quantitative metrics and a qualitative user study show substantial improvements in spatial memory, 3D consistency, and long-horizon stability over existing methods, enabling coherent, evolving 3D worlds. We further demonstrate novel capabilities, including synthesising diverse 3D environments from a single image, as well as enabling fine-grained, geometry-aware control over generated experiences by supporting environment editing and specification directly in 3D space. Project page: https://francelico.github.io/persist.github.io

cs.CV

The ALMA survey to Resolve exoKuiper belt Substructures (ARKS) II. The radial structure of debris discs

The ALMA survey to Resolve exoKuiper belt Substructures (ARKS) was recently completed to cover the lack of high-resolution observations of debris discs and to investigate the prevalence of substructures such as radial gaps and rings in a sample of 24 discs. This study characterises the radial structure of debris discs in the ARKS programme. To identify and quantify the disc substructures, we modelled all discs with a range of non-parametric and parametric approaches. We find that of the 24 discs in the sample, 5 host multiple rings, 7 are single rings that display halos or additional low-amplitude rings, and 12 are single rings with at most tentative evidence of additional substructures. The fractional ring widths that we measured are significantly narrower than previously derived values, and they follow a distribution similar to the fractional widths of individual rings resolved in protoplanetary discs. However, there exists a population of rings in debris discs that are significantly wider than those in protoplanetary discs. We also find that discs with steep inner edges consistent with planet sculpting tend to be found at smaller (<100 au) radii, while more radially extended discs tend to have shallower edges more consistent with collisional evolution. An overwhelming majority of discs have radial profiles well-described by either a double power law or double-Gaussian parametrisation. While our findings suggest that it may be possible for some debris discs to inherit their structures directly from protoplanetary discs, there exists a sizeable population of broad debris discs that cannot be explained in this way. Assuming that the distribution of millimetre dust reflects the distribution of planetesimals, mechanisms that cause rings in protoplanetary discs to migrate or debris discs to broaden soon after formation may be at play, possibly mediated by planetary migration or scattering.

astro-ph.EP

The ALMA survey to Resolve exoKuiper belt Substructures (ARKS) IX: Gas-driven origin for the continuum arc in the debris disc of HD 121617

Debris discs were long considered to be largely gas-free environments governed by collisional fragmentation, gravitational stirring, and radiative forces. Recent CO detections show that gas is present, but its abundance and origin remain uncertain. The ALMA survey to Resolve exoKuiper belt Substructures (ARKS) revealed a narrow gas and dust ring in the disc HD 121617 with an asymmetric arc 40% brighter than the rest of the ring. We aim to constrain the total gas mass in HD 121617 assuming the dust arc is produced by hydrodynamical gas-dust interactions. We used the Dusty FARGO-ADSG code, modelling dust as Lagrangian particles, including radiation pressure and dust feedback, and varying the total gas mass. Simulations were compared to observations using radiative transfer. An unstable gas ring creates a size-dependent radial and azimuthal dust trap whose efficiency depends on gas mass. Two models, with 50 and 5 Earth masses of gas, reproduce both the ALMA band 7 arc and the outward offset of the VLT/SPHERE scattered-light ring via gas drag and radiation pressure. We infer a conservative gas-mass range of 2.5 to 250 Earth masses. If the ALMA asymmetry is caused by gas drag, the required gas mass compared with the observed CO implies substantial H2, consistent with primordial gas. HD 121617 would then be a hybrid disc between protoplanetary and debris stages. Since a planet could also create an arc, future observations are needed to distinguish these scenarios.

astro-ph.EP

Next-Latent Prediction Transformers Learn Compact World Models

Transformers replace recurrence with a memory that grows with sequence length and self-attention that enables ad-hoc lookups over past tokens. Consequently, they lack an inherent incentive to compress history into compact latent states with consistent transition rules. This often leads to learning solutions that generalize poorly. We introduce Next-Latent Prediction (NextLat), which extends standard next-token training with self-supervised predictions in the latent space. Specifically, NextLat trains a transformer to learn latent representations that are predictive of its next latent state given the next token. Theoretically, we show that these latents provably converge towards belief states, compressed information about the history necessary to predict the future. This simple auxiliary objective injects a recurrent inductive bias into transformers while leaving their architecture, parallel training efficiency, and inference unchanged. NextLat effectively encourages transformers to form compact internal world models with coherent belief states and transition dynamics -- crucial properties not guaranteed by standard next-token prediction alone. Empirically, across benchmarks in world modeling, reasoning, planning, and language modeling, NextLat demonstrates significant gains over standard next-token prediction and other baselines in downstream accuracy, representation compression, and lookahead planning. Furthermore, NextLat enables variable-length self-speculative decoding, accelerating inference by up to 3.3x in language modeling. NextLat offers a simple yet effective paradigm for learning compact, predictive representations in transformers that generalize better. Our code is available at https://github.com/JaydenTeoh/NextLat.

cs.LG

The Origins & Reservoirs of Exocomets

Small bodies exist in distinct populations within their planetary systems. These reservoir populations hold a range of compositions, which to first order are dependent on formation location relative to their star. We provide a general overview of the nature of the reservoirs that source exocomets, from the influence of the stellar environment through planetesimal formation to comparisons with Solar System populations. Once transitioned from a young protoplanetary disc to a debris disc, a star can expect to be rained with exocomets. While exocomets are predominantly detected to date at A-type stars, planetesimals plausibly exist across a range of stellar masses, based on exoplanet abundance, debris disc occurrence and white dwarf infall.

astro-ph.EP

What Do Latent Action Models Actually Learn?

Latent action models (LAMs) aim to learn action-relevant changes from unlabeled videos by compressing changes between frames as latents. However, differences between video frames can be caused by controllable changes as well as exogenous noise, leading to an important concern -- do latents capture the changes caused by actions or irrelevant noise? This paper studies this issue analytically, presenting a linear model that encapsulates the essence of LAM learning, while being tractable.This provides several insights, including connections between LAM and principal component analysis (PCA), desiderata of the data-generating policy, and justification of strategies to encourage learning controllable changes using data augmentation, data cleaning, and auxiliary action-prediction. We also provide illustrative results based on numerical simulation, shedding light on the specific structure of observations, actions, and noise in data that influence LAM learning.

cs.LG

Sight, Sound and Smell in Immersive Experiences of Urban History: Virtual Vauxhall Gardens Case Study

We explore the integration of multisensory elements in virtual reality reconstructions of historical spaces through a case study of the Virtual Vauxhall Gardens project. While visual and auditory components have become standard in digital heritage experiences, the addition of olfactory stimuli remains underexplored, despite its powerful connection to memory and emotional engagement. This research investigates how multisensory experiences involving olfaction can be effectively integrated into VR reconstructions of historical spaces to enhance presence and engagement with cultural heritage. In the context of a VR reconstruction of London's eighteenth-century Vauxhall Pleasure Gardens, we developed a networked portable olfactory display capable of synchronizing specific scents with visual and auditory elements at pivotal moments in the virtual experience. Our evaluation methodology assesses both technical implementation and user experience, measuring presence, and usability metrics across diverse participant groups. Our results show that integrating synchronized olfactory stimuli into the VR experience can enhance user engagement and be perceived positively, contributing to a unique and immersive encounter with historical settings. While presence questionnaires indicated a strong sense of auditory presence and control, with other sensory factors rated moderately, user experience of attractiveness was exceptionally high; qualitative feedback suggested heightened sensory awareness and engagement influenced by the inclusion and anticipation of smell. Our results suggest that evaluating multisensory VR heritage experiences requires a nuanced approach, as standard usability metrics may be ill-suited and 'realism' might be less critical than creating an evocative, historically informed, and emotionally resonant experience......

cs.HC

MineWorld: a Real-Time and Open-Source Interactive World Model on Minecraft

World modeling is a crucial task for enabling intelligent agents to effectively interact with humans and operate in dynamic environments. In this work, we propose MineWorld, a real-time interactive world model on Minecraft, an open-ended sandbox game which has been utilized as a common testbed for world modeling. MineWorld is driven by a visual-action autoregressive Transformer, which takes paired game scenes and corresponding actions as input, and generates consequent new scenes following the actions. Specifically, by transforming visual game scenes and actions into discrete token ids with an image tokenizer and an action tokenizer correspondingly, we consist the model input with the concatenation of the two kinds of ids interleaved. The model is then trained with next token prediction to learn rich representations of game states as well as the conditions between states and actions simultaneously. In inference, we develop a novel parallel decoding algorithm that predicts the spatial redundant tokens in each frame at the same time, letting models in different scales generate $4$ to $7$ frames per second and enabling real-time interactions with game players. In evaluation, we propose new metrics to assess not only visual quality but also the action following capacity when generating new scenes, which is crucial for a world model. Our comprehensive evaluation shows the efficacy of MineWorld, outperforming SoTA open-sourced diffusion based world models significantly. The code and model have been released.

cs.CV

Fast Autoregressive Video Generation with Diagonal Decoding

Autoregressive Transformer models have demonstrated impressive performance in video generation, but their sequential token-by-token decoding process poses a major bottleneck, particularly for long videos represented by tens of thousands of tokens. In this paper, we propose Diagonal Decoding (DiagD), a training-free inference acceleration algorithm for autoregressively pre-trained models that exploits spatial and temporal correlations in videos. Our method generates tokens along diagonal paths in the spatial-temporal token grid, enabling parallel decoding within each frame as well as partially overlapping across consecutive frames. The proposed algorithm is versatile and adaptive to various generative models and tasks, while providing flexible control over the trade-off between inference speed and visual quality. Furthermore, we propose a cost-effective finetuning strategy that aligns the attention patterns of the model with our decoding order, further mitigating the training-inference gap on small-scale models. Experiments on multiple autoregressive video generation models and datasets demonstrate that DiagD achieves up to $10\times$ speedup compared to naive sequential decoding, while maintaining comparable visual fidelity.

cs.CV

Scaling Laws for Pre-training Agents and World Models

The performance of embodied agents has been shown to improve by increasing model parameters, dataset size, and compute. This has been demonstrated in domains from robotics to video games, when generative learning objectives on offline datasets (pre-training) are used to model an agent's behavior (imitation learning) or their environment (world modeling). This paper characterizes the role of scale in these tasks more precisely. Going beyond the simple intuition that `bigger is better', we show that the same types of power laws found in language modeling also arise in world modeling and imitation learning (e.g. between loss and optimal model size). However, the coefficients of these laws are heavily influenced by the tokenizer, task \& architecture -- this has important implications on the optimal sizing of models and data.

cs.LG

Reconciling Kaplan and Chinchilla Scaling Laws

Kaplan et al. [2020] (`Kaplan') and Hoffmann et al. [2022] (`Chinchilla') studied the scaling behavior of transformers trained on next-token language prediction. These studies produced different estimates for how the number of parameters ($N$) and training tokens ($D$) should be set to achieve the lowest possible loss for a given compute budget ($C$). Kaplan: $N_\text{optimal} \propto C^{0.73}$, Chinchilla: $N_\text{optimal} \propto C^{0.50}$. This paper finds that much of this discrepancy can be attributed to Kaplan counting non-embedding rather than total parameters, combined with their analysis being performed at small scale. Simulating the Chinchilla study under these conditions produces biased scaling coefficients close to Kaplan's. Hence, this paper reaffirms Chinchilla's scaling coefficients, by explaining the primary cause of Kaplan's original overestimation. As a second contribution, the paper explains differences in the reported relationships between loss and compute. These findings lead us to recommend that future scaling studies use total parameters and compute.

cs.LG

Diffusion for World Modeling: Visual Details Matter in Atari

World models constitute a promising approach for training reinforcement learning agents in a safe and sample-efficient manner. Recent world models predominantly operate on sequences of discrete latent variables to model environment dynamics. However, this compression into a compact discrete representation may ignore visual details that are important for reinforcement learning. Concurrently, diffusion models have become a dominant approach for image generation, challenging well-established methods modeling discrete latents. Motivated by this paradigm shift, we introduce DIAMOND (DIffusion As a Model Of eNvironment Dreams), a reinforcement learning agent trained in a diffusion world model. We analyze the key design choices that are required to make diffusion suitable for world modeling, and demonstrate how improved visual details can lead to improved agent performance. DIAMOND achieves a mean human normalized score of 1.46 on the competitive Atari 100k benchmark; a new best for agents trained entirely within a world model. We further demonstrate that DIAMOND's diffusion world model can stand alone as an interactive neural game engine by training on static Counter-Strike: Global Offensive gameplay. To foster future research on diffusion for world modeling, we release our code, agents, videos and playable world models at https://diamond-wm.github.io.

cs.LG