diff --git a/src/pomdp/tracker.cpp b/src/pomdp/tracker.cpp
index 766d03c..63c9d33 100644
--- a/src/pomdp/tracker.cpp
+++ b/src/pomdp/tracker.cpp
@@ -1,15 +1,33 @@
 #include "tracker.h"
 #include "src/helpers.h"
 #include <storm-pomdp/generator/BeliefSupportTracker.h>
+#include <storm-pomdp/generator/NondeterministicBeliefTracker.h>
 
 
 template<typename ValueType> using SparsePomdp = storm::models::sparse::Pomdp<ValueType>;
-template<typename ValueType> using SparsePomdpTracker = storm::generator::BeliefSupportTracker<double>;
+template<typename ValueType> using SparsePomdpTracker = storm::generator::BeliefSupportTracker<ValueType>;
 
+template<typename ValueType> using NDPomdpTrackerSparse = storm::generator::NondeterministicBeliefTracker<double, storm::generator::SparseBeliefState<double>>;
 
 void define_tracker(py::module& m) {
     py::class_<storm::generator::BeliefSupportTracker<double>> tracker(m, "BeliefSupportTrackerDouble", "Tracker for BeliefSupports");
     tracker.def(py::init<SparsePomdp<double> const&>(), py::arg("pomdp"));
     tracker.def("get_current_belief_support", &SparsePomdpTracker<double>::getCurrentBeliefSupport, "What is the support given the trace so far");
     tracker.def("track", &SparsePomdpTracker<double>::track, py::arg("action"), py::arg("observation"));
+
+    py::class_<storm::generator::SparseBeliefState<double>> sbel(m, "SparseBeliefStateDouble", "Belief state in sparse format");
+    sbel.def("get", &storm::generator::SparseBeliefState<double>::get, py::arg("state"));
+    sbel.def_property_readonly("risk", &storm::generator::SparseBeliefState<double>::getRisk);
+    sbel.def("__str__", &storm::generator::SparseBeliefState<double>::toString);
+    sbel.def_property_readonly("is_valid", &storm::generator::SparseBeliefState<double>::isValid);
+
+    py::class_<NDPomdpTrackerSparse<double>> ndetbelieftracker(m, "NondeterministicBeliefTrackerDoubleSparse", "Tracker for belief states and uncontrollable actions");
+    ndetbelieftracker.def(py::init<SparsePomdp<double> const&>(), py::arg("pomdp"));
+    ndetbelieftracker.def("reset", &NDPomdpTrackerSparse<double>::reset);
+    ndetbelieftracker.def("set_risk", &NDPomdpTrackerSparse<double>::setRisk, py::arg("risk"));
+    ndetbelieftracker.def("obtain_current_risk",&NDPomdpTrackerSparse<double>::getCurrentRisk, py::arg("max")=true);
+    ndetbelieftracker.def("track", &NDPomdpTrackerSparse<double>::track, py::arg("observation"));
+    ndetbelieftracker.def("obtain_beliefs", &NDPomdpTrackerSparse<double>::getCurrentBeliefs);
+    ndetbelieftracker.def("obtain_last_observation", &NDPomdpTrackerSparse<double>::getCurrentObservation);
+
 }
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