The Monte Carlo Value Iteration (MCVI) offline solver for POMDPs.jl.

Described in

Bai, H., Hsu, D., & Lee, W. S. (2014). Integrated perception and planning in the continuous space: A POMDP approach. The International Journal of Robotics Research, 33(9), 1288-1302.

using Pkg
Pkg.add("MCVI")

Reference the docs for an example using LightDark1D.