diff --git a/src/storm-pomdp-cli/settings/modules/POMDPSettings.cpp b/src/storm-pomdp-cli/settings/modules/POMDPSettings.cpp
index 57c065f7a..09a5342b3 100644
--- a/src/storm-pomdp-cli/settings/modules/POMDPSettings.cpp
+++ b/src/storm-pomdp-cli/settings/modules/POMDPSettings.cpp
@@ -15,7 +15,8 @@ namespace storm {
             const std::string POMDPSettings::moduleName = "pomdp";
             const std::string noCanonicOption = "nocanonic";
             const std::string exportAsParametricModelOption = "parametric-drn";
-            const std::string gridApproximationOption = "gridapproximation";
+            const std::string beliefExplorationOption = "belief-exploration";
+            std::vector<std::string> beliefExplorationModes = {"both", "discretize", "unfold"};
             const std::string qualitativeReductionOption = "qualitativereduction";
             const std::string analyzeUniqueObservationsOption = "uniqueobservations";
             const std::string mecReductionOption = "mecreduction";
@@ -43,7 +44,7 @@ namespace storm {
                 this->addOption(storm::settings::OptionBuilder(moduleName, fscmode, false, "Sets the way the pMC is obtained").addArgument(storm::settings::ArgumentBuilder::createStringArgument("type", "type name").addValidatorString(ArgumentValidatorFactory::createMultipleChoiceValidator(fscModes)).setDefaultValueString("standard").build()).build());
                 this->addOption(storm::settings::OptionBuilder(moduleName, transformBinaryOption, false, "Transforms the pomdp to a binary pomdp.").build());
                 this->addOption(storm::settings::OptionBuilder(moduleName, transformSimpleOption, false, "Transforms the pomdp to a binary and simple pomdp.").build());
-                this->addOption(storm::settings::OptionBuilder(moduleName, gridApproximationOption, false,"Analyze the POMDP using grid approximation.").build());
+                this->addOption(storm::settings::OptionBuilder(moduleName, beliefExplorationOption, false,"Analyze the POMDP by exploring the belief state-space.").addArgument(storm::settings::ArgumentBuilder::createStringArgument("mode", "Sets whether lower, upper, or interval result bounds are computed.").addValidatorString(ArgumentValidatorFactory::createMultipleChoiceValidator(beliefExplorationModes)).setDefaultValueString("both").makeOptional().build()).build());
                 this->addOption(storm::settings::OptionBuilder(moduleName, memlessSearchOption, false, "Search for a qualitative memoryless scheuler").addArgument(storm::settings::ArgumentBuilder::createStringArgument("method", "method name").addValidatorString(ArgumentValidatorFactory::createMultipleChoiceValidator(memlessSearchMethods)).setDefaultValueString("none").build()).build());
                 this->addOption(storm::settings::OptionBuilder(moduleName, checkFullyObservableOption, false, "Performs standard model checking on the underlying MDP").build());
 
@@ -77,8 +78,18 @@ namespace storm {
                 return this->getOption(selfloopReductionOption).getHasOptionBeenSet();
             }
 
-            bool POMDPSettings::isGridApproximationSet() const {
-                return this->getOption(gridApproximationOption).getHasOptionBeenSet();
+            bool POMDPSettings::isBeliefExplorationSet() const {
+                return this->getOption(beliefExplorationOption).getHasOptionBeenSet();
+            }
+            
+            bool POMDPSettings::isBeliefExplorationDiscretizeSet() const {
+                std::string arg = this->getOption(beliefExplorationOption).getArgumentByName("mode").getValueAsString();
+                return isBeliefExplorationSet() && (arg == "discretize" || arg == "both");
+            }
+
+            bool POMDPSettings::isBeliefExplorationUnfoldSet() const {
+                std::string arg = this->getOption(beliefExplorationOption).getArgumentByName("mode").getValueAsString();
+                return isBeliefExplorationSet() && (arg == "unfold" || arg == "both");
             }
 
             bool POMDPSettings::isMemlessSearchSet() const {
diff --git a/src/storm-pomdp-cli/settings/modules/POMDPSettings.h b/src/storm-pomdp-cli/settings/modules/POMDPSettings.h
index 6754ac55c..d1a9e6b82 100644
--- a/src/storm-pomdp-cli/settings/modules/POMDPSettings.h
+++ b/src/storm-pomdp-cli/settings/modules/POMDPSettings.h
@@ -27,7 +27,9 @@ namespace storm {
                 bool isQualitativeReductionSet() const;
 
                 bool isNoCanonicSet() const;
-                bool isGridApproximationSet() const;
+                bool isBeliefExplorationSet() const;
+                bool isBeliefExplorationDiscretizeSet() const;
+                bool isBeliefExplorationUnfoldSet() const;
                 bool isAnalyzeUniqueObservationsSet() const;
                 bool isMecReductionSet() const;
                 bool isSelfloopReductionSet() const;
diff --git a/src/storm-pomdp-cli/storm-pomdp.cpp b/src/storm-pomdp-cli/storm-pomdp.cpp
index a6da25b16..ebfa22e7c 100644
--- a/src/storm-pomdp-cli/storm-pomdp.cpp
+++ b/src/storm-pomdp-cli/storm-pomdp.cpp
@@ -99,16 +99,16 @@ namespace storm {
             bool performAnalysis(std::shared_ptr<storm::models::sparse::Pomdp<ValueType>> const& pomdp, storm::pomdp::analysis::FormulaInformation const& formulaInfo, storm::logic::Formula const& formula) {
                 auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
                 bool analysisPerformed = false;
-                if (pomdpSettings.isGridApproximationSet()) {
-                    STORM_PRINT_AND_LOG("Applying grid approximation... ");
+                if (pomdpSettings.isBeliefExplorationSet()) {
+                    STORM_PRINT_AND_LOG("Exploring the belief MDP... ");
                     auto const& gridSettings = storm::settings::getModule<storm::settings::modules::GridApproximationSettings>();
                     typename storm::pomdp::modelchecker::ApproximatePOMDPModelchecker<storm::models::sparse::Pomdp<ValueType>>::Options options;
                     std::cout << "TODO: create and read from new settings!" << std::endl;
                     // options.initialGridResolution = gridSettings.getGridResolution();
                     // options.explorationThreshold = storm::utility::convertNumber<ValueType>(gridSettings.getExplorationThreshold());
                     options.refine = gridSettings.isRefineSet();
-                    options.unfold = true;
-                    options.discretize = true;
+                    options.unfold = pomdpSettings.isBeliefExplorationUnfoldSet();
+                    options.discretize = pomdpSettings.isBeliefExplorationDiscretizeSet();
                     // options.refinementPrecision = storm::utility::convertNumber<ValueType>(gridSettings.getRefinementPrecision());
                     // options.numericPrecision = storm::utility::convertNumber<ValueType>(gridSettings.getNumericPrecision());
                     // options.cacheSubsimplices = gridSettings.isCacheSimplicesSet();