Semi-Markov models explicitly model the duration distribution over time spent in each discrete state.
This introduces a non-Markovian dependency, but it's not arbitrarily complex. We can include semi-Markov models by extending the state space of the HMM. This can be done efficiently for certain classes of duration distributions, like the negative binomial distribution with an integer shape parameter. See Matt Johnson's thesis, for example.
Semi-Markov models explicitly model the duration distribution over time spent in each discrete state. This introduces a non-Markovian dependency, but it's not arbitrarily complex. We can include semi-Markov models by extending the state space of the HMM. This can be done efficiently for certain classes of duration distributions, like the negative binomial distribution with an integer shape parameter. See Matt Johnson's thesis, for example.