In many applications -- e.g., in health care -- it is desirable to make robots behave human-like. This means, in particular, that robotic control should not be optimal, it should be similar to human (suboptimal) behavior. People's decisions are based on bounded rationality: since we cannot compute an optimal solution for all possible situations, we divide situations into groups and come up with a solution appropriate for each group. What is optimal here is the division into groups. It is therefore desirable to implement a similar algorithm for robots. To help with such algorithms, we provide techniques that help optimally divide situations into groups.