diff --git a/Project.toml b/Project.toml
index 1b25bb4..cb94a8e 100644
--- a/Project.toml
+++ b/Project.toml
@@ -4,14 +4,12 @@ authors = ["Tomas Omasta <omastto1@fel.cvut.cz> and contributors"]
 version = "0.3.1"
 
 [deps]
-BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4"
 POMDPLinter = "f3bd98c0-eb40-45e2-9eb1-f2763262d755"
 POMDPModelTools = "08074719-1b2a-587c-a292-00f91cc44415"
 POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [compat]
-BeliefUpdaters = "0.2"
 POMDPLinter = "0.1"
 POMDPModelTools = "0.3"
 POMDPs = "0.9"
diff --git a/src/FiniteHorizonPOMDPs.jl b/src/FiniteHorizonPOMDPs.jl
index 78e9226..3fb5662 100644
--- a/src/FiniteHorizonPOMDPs.jl
+++ b/src/FiniteHorizonPOMDPs.jl
@@ -3,7 +3,6 @@ module FiniteHorizonPOMDPs
 using POMDPs
 using POMDPModelTools
 using Random: Random, AbstractRNG
-using BeliefUpdaters
 
 
 export
diff --git a/src/fixhorizon.jl b/src/fixhorizon.jl
index ccbc5f0..f6e37df 100644
--- a/src/fixhorizon.jl
+++ b/src/fixhorizon.jl
@@ -180,14 +180,6 @@ Return stage of InStageDistribution
 """
 stage(d::InStageDistribution) = d.stage
 
-
-# convert(::Type{Array{Float64, 1}}, d::FiniteHorizonPOMDPs.InStageDistribution{DiscreteUniform}, m::FiniteHorizonPOMDPs.FixedHorizonPOMDPWrapper) = vec([pdf(d, s) for s in states(m)])
-# convert(::Type{Array{Float64, 1}}, d::FiniteHorizonPOMDPs.InStageDistribution{BoolDistribution}, m::FiniteHorizonPOMDPs.FixedHorizonPOMDPWrapper) = [[distrib(d).p[1], 1 - distrib(d).p[1]]..., zeros(length(states(m)) - 2)...]
-
-function BeliefUpdaters.DiscreteBelief(pomdp, b::InStageDistribution; check::Bool=true)
-    return DiscreteBelief(pomdp, convert(Array{Float64, 1}, b, pomdp); check)
-end
-
 Base.rand(rng::AbstractRNG, s::Random.SamplerTrivial{<:InStageDistribution}) = (rand(rng, s[].d), s[].stage)
 
 function POMDPs.pdf(d::InStageDistribution, ss::Tuple{<:Any, Int})