Abstract Among the many approaches for reasoning about degrees of belief in the presence of noisy sensing and acting, the logical account proposed by Bacchus, Halpern, and Levesque is perhaps the most expressive. While their for malism is quite general, it is restricted to fluents who values are drawn from discrete countable domains, as opposed to the continuous domains seen in many robotic applications. In this paper, we show how this limitation in their approach can be lifted. By dealing seamlessly with both discrete distributions and continuous densitie within a rich theory of action, we provide a very genera logical specification of how belief should change after acting and sensing in complex noisy domains.