ate it‚Äôs in</p></li>
<li><p>same elements but add <em>sensor model</em> <span class="math notranslate nohighlight">\(P(e \vert s)\)</span></p></li>
<li><p>have distr <span class="math notranslate nohighlight">\(b(s)\)</span> for belief states</p>
<ul class="simple">
<li><p>updates like the HMM: <span class="math notranslate nohighlight">\(b'(s') = \alpha P(e \vert s') \sum_s P(s' \vert s, a) b(s)\)</span></p></li>
<li><p>changes based on observations</p></li>
</ul>
</li>
<li><p>optimal action depends 