How to determine the number of sub-policies?

[kwea123]

Hi, I read the paper and in the experiment section, apart from the first simple examples where it is trivial to determine the number of sub-policies, from section 6.4 (ant robot, etc.) on, I didn't see any detail about how this number is set.

In my opinion, this number should be quite important for this algorithm to perform well, for example you won't get good results by setting num-policy=3 in FourRooms.

Could you please explain how this number should be chosen? Thank you.