To enable effective interaction with the environment, the brain combines noisy sensory information with expectations based on prior experience. There is ample evidence showing that humans can learn statistical regularities in sensory input and exploit this knowledge to improve perceptual decisions and actions. However, fundamental questions remain regarding how priors are learned and how they generalize to different sensory and behavioral contexts. In principle, maintaining a large set of highly specific priors may be inefficient and restrict the speed at which expectations can be formed and updated in response to changes in the environment. However, priors formed by generalizing across varying contexts may not be accurate. Here, we exploit rapidly induced contextual biases in duration reproduction to reveal how these competing demands are resolved during the early stages of prior acquisition. We show that observers initially form a single prior by generalizing across duration distributions coupled with distinct sensory signals. In contrast, they form multiple priors if distributions are coupled with distinct motor outputs. Together, our findings suggest that rapid prior acquisition is facilitated by generalization across experiences of different sensory inputs but organized according to how that sensory information is acted on.Bayesian inference | time perception | sensorimotor learning L ike all complex animals, humans rely on their senses to extract information about the environment and guide decision making and behavior. Often, however, sensory information is ambiguous. Signals transmitted to the senses can be weak or degraded, such as patterns of reflected light under low illumination or speech sounds in noisy environments. Moreover, sensory representations of even the most high-fidelity signals tend to be variable (1) and are insufficient to completely disambiguate different distal causes (2). Mounting empirical evidence indicates that, when forming decisions and planning actions, the brain combines uncertain sensory information with expectations based on prior knowledge (3-6). For example, a variety of biases in visual perception have been shown to be consistent with reliance on prior knowledge regarding statistical regularities in the environment, such as the distribution of local orientations (7) and speeds (8) in natural scenes and the positioning of light sources (9). In many studies, perception and behavior have been shown to be well-described by near-optimal integration of sensory evidence and prior knowledge according to the principles of statistical decision theory.Prior knowledge can be acquired over a range of different timescales. Priors specifying stable statistical characteristics of the environment are typically thought to be either innate or the consequence of life-long implicit learning (5, 7). However, context-specific priors can also be formed based on recent experiences. Studies using simple sensorimotor tasks suggest that human participants are adept at learning the distribution of set...