diff --git a/src/storm/generator/PrismNextStateGenerator.cpp b/src/storm/generator/PrismNextStateGenerator.cpp
index d4cbad961..270454fd3 100644
--- a/src/storm/generator/PrismNextStateGenerator.cpp
+++ b/src/storm/generator/PrismNextStateGenerator.cpp
@@ -297,11 +297,26 @@ StateBehavior<ValueType, StateType> PrismNextStateGenerator<ValueType, StateType
         result.addStateReward(stateRewardValue);
     }
 
-    // If a terminal expression was set and we must not expand this state, return now.
+    // If a terminal expression was set, we must not expand this state
     if (!this->terminalStates.empty()) {
         for (auto const& expressionBool : this->terminalStates) {
             if (this->evaluator->asBool(expressionBool.first) == expressionBool.second) {
-                return result;
+                if (!isPartiallyObservable()) {
+                    // If the model is not partially observable, return.
+                    return result;
+                } else {
+                    // for partially observable models, we need to add self-loops for all enabled actions.
+                    result.setExpanded();
+                    std::vector<Choice<ValueType>> allChoices = getSelfLoopsForAllActions(*this->state, stateToIdCallback);
+                    if (allChoices.size() != 0) {
+                        for (auto& choice : allChoices) {
+                            result.addChoice(std::move(choice));
+                        }
+
+                        this->postprocess(result);
+                    }
+                    return result;
+                }
             }
         }
     }
@@ -685,6 +700,144 @@ std::vector<Choice<ValueType>> PrismNextStateGenerator<ValueType, StateType>::ge
     return result;
 }
 
+template<typename ValueType, typename StateType>
+std::vector<Choice<ValueType>> PrismNextStateGenerator<ValueType, StateType>::getSelfLoopsForAllActions(CompressedState const& state,
+                                                                                                        StateToIdCallback stateToIdCallback,
+                                                                                                        CommandFilter const& commandFilter) {
+    std::vector<Choice<ValueType>> result;
+
+    // Asynchronous actions
+    // Iterate over all modules.
+    for (uint_fast64_t i = 0; i < program.getNumberOfModules(); ++i) {
+        storm::prism::Module const& module = program.getModule(i);
+
+        // Iterate over all commands.
+        for (uint_fast64_t j = 0; j < module.getNumberOfCommands(); ++j) {
+            storm::prism::Command const& command = module.getCommand(j);
+
+            // Only consider commands that are not possibly synchronizing.
+            if (isCommandPotentiallySynchronizing(command))
+                continue;
+
+            if (this->actionMask != nullptr) {
+                if (!this->actionMask->query(*this, command.getActionIndex())) {
+                    continue;
+                }
+            }
+
+            // Skip the command, if it is not enabled.
+            if (!this->evaluator->asBool(command.getGuardExpression())) {
+                continue;
+            }
+
+            result.push_back(Choice<ValueType>(command.getActionIndex(), command.isMarkovian()));
+            Choice<ValueType>& choice = result.back();
+
+            // Remember the choice origin only if we were asked to.
+            if (this->options.isBuildChoiceOriginsSet()) {
+                CommandSet commandIndex{command.getGlobalIndex()};
+                choice.addOriginData(boost::any(std::move(commandIndex)));
+            }
+            choice.addProbability(stateToIdCallback(*this->state), storm::utility::one<ValueType>());
+
+            // Create the state-action reward for the newly created choice.
+            for (auto const& rewardModel : rewardModels) {
+                ValueType stateActionRewardValue = storm::utility::zero<ValueType>();
+                if (rewardModel.get().hasStateActionRewards()) {
+                    for (auto const& stateActionReward : rewardModel.get().getStateActionRewards()) {
+                        if (stateActionReward.getActionIndex() == choice.getActionIndex() &&
+                            this->evaluator->asBool(stateActionReward.getStatePredicateExpression())) {
+                            stateActionRewardValue += ValueType(this->evaluator->asRational(stateActionReward.getRewardValueExpression()));
+                        }
+                    }
+                }
+                choice.addReward(stateActionRewardValue);
+            }
+
+            if (this->options.isBuildChoiceLabelsSet() && command.isLabeled()) {
+                choice.addLabel(program.getActionName(command.getActionIndex()));
+            }
+        }
+    }
+
+    // Synchronizing actions
+    for (uint_fast64_t actionIndex : program.getSynchronizingActionIndices()) {
+        if (this->actionMask != nullptr) {
+            if (!this->actionMask->query(*this, actionIndex)) {
+                continue;
+            }
+        }
+        boost::optional<std::vector<std::vector<std::reference_wrapper<storm::prism::Command const>>>> optionalActiveCommandLists =
+            getActiveCommandsByActionIndex(actionIndex, commandFilter);
+
+        // Only process this action label, if there is at least one feasible solution.
+        if (optionalActiveCommandLists) {
+            std::vector<std::vector<std::reference_wrapper<storm::prism::Command const>>> const& activeCommandList = optionalActiveCommandLists.get();
+            std::vector<std::vector<std::reference_wrapper<storm::prism::Command const>>::const_iterator> iteratorList(activeCommandList.size());
+
+            // Initialize the list of iterators.
+            for (size_t i = 0; i < activeCommandList.size(); ++i) {
+                iteratorList[i] = activeCommandList[i].cbegin();
+            }
+
+            // As long as there is one feasible combination of commands, keep on expanding it.
+            bool done = false;
+            while (!done) {
+                // At this point, we applied all commands of the current command combination and newTargetStates
+                // contains all target states and their respective probabilities. That means we are now ready to
+                // add the choice to the list of transitions.
+                result.push_back(Choice<ValueType>(actionIndex));
+
+                // Now create the actual distribution.
+                Choice<ValueType>& choice = result.back();
+
+                // Remember the choice label and origins only if we were asked to.
+                if (this->options.isBuildChoiceLabelsSet()) {
+                    choice.addLabel(program.getActionName(actionIndex));
+                }
+                if (this->options.isBuildChoiceOriginsSet()) {
+                    CommandSet commandIndices;
+                    for (uint_fast64_t i = 0; i < iteratorList.size(); ++i) {
+                        commandIndices.insert(iteratorList[i]->get().getGlobalIndex());
+                    }
+                    choice.addOriginData(boost::any(std::move(commandIndices)));
+                }
+                choice.addProbability(stateToIdCallback(*this->state), storm::utility::one<ValueType>());
+
+                // Create the state-action reward for the newly created choice.
+                for (auto const& rewardModel : rewardModels) {
+                    ValueType stateActionRewardValue = storm::utility::zero<ValueType>();
+                    if (rewardModel.get().hasStateActionRewards()) {
+                        for (auto const& stateActionReward : rewardModel.get().getStateActionRewards()) {
+                            if (stateActionReward.getActionIndex() == choice.getActionIndex() &&
+                                this->evaluator->asBool(stateActionReward.getStatePredicateExpression())) {
+                                stateActionRewardValue += ValueType(this->evaluator->asRational(stateActionReward.getRewardValueExpression()));
+                            }
+                        }
+                    }
+                    choice.addReward(stateActionRewardValue);
+                }
+
+                // Now, check whether there is one more command combination to consider.
+                bool movedIterator = false;
+                for (int_fast64_t j = iteratorList.size() - 1; !movedIterator && j >= 0; --j) {
+                    ++iteratorList[j];
+                    if (iteratorList[j] != activeCommandList[j].end()) {
+                        movedIterator = true;
+                    } else {
+                        // Reset the iterator to the beginning of the list.
+                        iteratorList[j] = activeCommandList[j].begin();
+                    }
+                }
+
+                done = !movedIterator;
+            }
+        }
+    }
+
+    return result;
+}
+
 template<typename ValueType, typename StateType>
 void PrismNextStateGenerator<ValueType, StateType>::generateSynchronizedDistribution(
     storm::storage::BitVector const& state, ValueType const& probability, uint64_t position,
diff --git a/src/storm/generator/PrismNextStateGenerator.h b/src/storm/generator/PrismNextStateGenerator.h
index bd39af624..17d89d981 100644
--- a/src/storm/generator/PrismNextStateGenerator.h
+++ b/src/storm/generator/PrismNextStateGenerator.h
@@ -107,6 +107,15 @@ class PrismNextStateGenerator : public NextStateGenerator<ValueType, StateType>
     void addSynchronousChoices(std::vector<Choice<ValueType>>& choices, CompressedState const& state, StateToIdCallback stateToIdCallback,
                                CommandFilter const& commandFilter = CommandFilter::All);
 
+    /*!
+     * Generates self-loops for all actions of the given state. Necessary for POMDPs.
+     *
+     * @param state The state for which to retrieve the unlabeled choices.
+     * @return The choices representing self-loops for all actions of the state.
+     */
+    std::vector<Choice<ValueType>> getSelfLoopsForAllActions(CompressedState const& state, StateToIdCallback stateToIdCallback,
+                                                             CommandFilter const& commandFilter = CommandFilter::All);
+
     /*!
      * Extend the Json struct with additional information about the state.
      */