which update only the value at each belief grid point. α 0 b2 b1 b0 b3 b2 b1 b0 b3 V={ ,α 1,α 2} Figure 1: POMDP value function representation using PBVI (on the left) and a grid (on the right). The complete PBVI algorithm is designed as an anytime algorithm, interleaving steps of value iteration and steps of beliefset expansion.