The pseudo-code of plugging our method into the vanilla BO is summarised in Algorithm 1. Therefore, our method is applicable to any other variants of BO in a plug-in manner. In this section, we present the proofs associated with the theoretical assertions from Section 2. To Lemma 1. Assume the GP employs a stationary kernel Lemma 2. Given Lemma 1, determining Proposition 2. Leveraging Lemma 2, suppose Lemma 3. As per Srinivas et al., the optimization process in BO can be conceptualized as a sampling Pr null |f ( x) µ(x) | ωσ ( x) null > δ, (24) where δ > 0 signifies the confidence level adhered to by the UCB. This lemma is directly from Srinivas et al. . The proof can be found therein. Theorem 1. Leveraging Corollary 1, when employing the termination method proposed in this paper, As discussed in Remark 2 of Section 2.2 in the main manuscript, we suggest initializing L-BFGS Different subplots are (a) our proposed method, (b) Naïve method, (c) Nguyen's method, (d) Lorenz's Different subplots are (a) our proposed method, (b) Naïve method, (c) Nguyen's method, (d) Lorenz's Different subplots are (a) our proposed method, (b) Naïve method, (c) Nguyen's method, (d) Lorenz's Different subplots are (a) our proposed method, (b) Naïve method, (c) Nguyen's method, (d) Lorenz's

Then, to tackle the benchmark mentioned above, we present the Point-In-Context (PIC) to explore in-context learning for 3D point clouds.

We conducted the experiment on Meta-World, a multi-task RL benchmark containing various robotics manipulation tasks.