def _initialize_table(self):
    def add_dict(sub_dict, length, actions):
        if length == 0:
            for key in sub_dict:
                sub_dict[key] = actions.copy()
            return sub_dict
        for key in sub_dict:
            sub_dict[key] = {True: {}, False: {}}
            add_dict(sub_dict[key], length-1, actions)

    self.qtable = {}
    for node in self.nodes:
        node_actions = self.nodes[node].get_actions()
        actions = {}
        for action in node_actions:
            # We don't want q-values for the pickup and dropoff actions, as those are always taken.
            # We only want q values for cardinal directions.
            if action not in ["Pickup", "Dropoff"]:
                actions[action] = INITIAL_Q_VALUE
        dropoff = {True: {}, False: {}}
        add_dict(dropoff, len(self.dropoffs)-1, actions)

        pickup = {True: {}, False: {}}
        add_dict(pickup, len(self.pickups)-1, actions)

        self.qtable[node] = {True: dropoff, False: pickup}