\section{Model Description}\label{app:model_description}

In figure \ref{fig:bet_architecture}, we present a diagram to visualize the approach proposed by \citet{shafiullah2022behavior}.

\begin{figure}[htb]
\includegraphics[width=\textwidth]{figures/bet_architecture.pdf}
\centering
\caption{Architecture of the BeT pipeline, taken from \citet{shafiullah2022behavior}.
(A) Action encoding and decoding process via clustering.
(B) The BeT architecture and training.
(C) Sampling an action with BeT, given observations within its history.}
\label{fig:bet_architecture}
\end{figure}