Long-horizon embodied planning is challenging because the world does not only change through an agent's actions: exogenous processes (e.g., water heating, dominoes cascading) unfold concurrently with the agent's actions. We propose a framework for abstract world models that jointly learns (i) symbolic state representations and (ii) causal processes for both endogenous actions and exogenous mechanisms. Each causal process models the time course of a stochastic cause-effect relation. We learn these world models from limited data via variational Bayesian inference combined with LLM proposals. Across five simulated tabletop robotics environments, the learned models enable fast planning that generalizes to held-out tasks with more objects and more complex goals, outperforming a range of baselines.

We consider the problem of modeling temporal textual data taking endogenous and exogenous processes into account. Such text documents arise in real world applications, including job advertisements and economic news articles, which are influenced by the fluctuations of the general economy. We propose a hierarchical Bayesian topic model which imposes a "group-correlated" hierarchical structure on the evolution of topics over time incorporating both processes, and show that this model can be estimated from Markov chain Monte Carlo sampling methods. We further demonstrate that this model captures the intrinsic relationships between the topic distribution and the time-dependent factors, and compare its performance with latent Dirichlet allocation (LDA) and two other related models. The model is applied to two collections of documents to illustrate its empirical performance: online job advertisements from DirectEmployers Association and journalists' postings on BusinessInsider.com.