diff --git a/js/ai/qlearn/changelog.md b/js/ai/qlearn/changelog.md
new file mode 100644
index 0000000..0c2d239
--- /dev/null
+++ b/js/ai/qlearn/changelog.md
@@ -0,0 +1,8 @@
+# changelog
+
+## 6.0.0
+
+ * Start a changelog
+ * Change the learn calculation
+ * Up to ecma2021
+ * rename actionNames into previousActions inside learn
diff --git a/js/ai/qlearn/examples/dodgeShoot/dodgeShoot.js b/js/ai/qlearn/examples/dodgeShoot/dodgeShoot.js
index 495f0f8..b61fd4a 100644
--- a/js/ai/qlearn/examples/dodgeShoot/dodgeShoot.js
+++ b/js/ai/qlearn/examples/dodgeShoot/dodgeShoot.js
@@ -30,6 +30,7 @@ const actions = {
         actor[0] = futureX;
     },
 };
+// do not change over time
 const actionNames = Object.keys(actions);
 
 const updateGame = (action, state, reward) => {
@@ -102,7 +103,7 @@ const start = (options) => {
                     previousStateActions,
                     stateActions,
                     previousAction: actionName,
-                    actionNames,
+                    previousActions: actionNames,
                     reward: scoreDifference,
                 });
             }
diff --git a/js/ai/qlearn/examples/dodgeShoot/results2.txt b/js/ai/qlearn/examples/dodgeShoot/results2.txt
index 4e30a15..b301a5c 100644
--- a/js/ai/qlearn/examples/dodgeShoot/results2.txt
+++ b/js/ai/qlearn/examples/dodgeShoot/results2.txt
@@ -1,31 +1,31 @@
 random positive reward 2000 frames score: 123  
 qLearn(reduceStateAndActionSeeAll)(learn) positive reward 2000 frames score: 463  
 qLearn(reduceStateAndActionSeeAll)(learnWithAverage) positive reward 2000 frames score: 465  
-qLearn(reduceStateAndActionSeeAllDistance)(learn) positive reward 2000 frames score: 420  
-qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) positive reward 2000 frames score: 214  
+qLearn(reduceStateAndActionSeeAllDistance)(learn) positive reward 2000 frames score: 266  
+qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) positive reward 2000 frames score: 240  
 qLearn(reduceStateAndActionSeeNearestOnly)(learn) positive reward 2000 frames score: 233  
-qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) positive reward 2000 frames score: 129        
 random negative reward 2000 frames score: -120  
-qLearn(reduceStateAndActionSeeAll)(learn) negative reward 2000 frames score: -18  
-qLearn(reduceStateAndActionSeeAll)(learnWithAverage) negative reward 2000 frames score: -23  
-qLearn(reduceStateAndActionSeeAllDistance)(learn) negative reward 2000 frames score: -83  
-qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) negative reward 2000 frames score: -128  
-qLearn(reduceStateAndActionSeeNearestOnly)(learn) negative reward 2000 frames score: -49
-qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 2000 frames score: -60  
+qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) positive reward 2000 frames score: 137        
+qLearn(reduceStateAndActionSeeAll)(learn) negative reward 2000 frames score: -14  
+qLearn(reduceStateAndActionSeeAll)(learnWithAverage) negative reward 2000 frames score: -18  
+qLearn(reduceStateAndActionSeeAllDistance)(learn) negative reward 2000 frames score: -71  
+qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) negative reward 2000 frames score: -109  
+qLearn(reduceStateAndActionSeeNearestOnly)(learn) negative reward 2000 frames score: -19
+qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 2000 frames score: -15  
 random positive reward 20000 frames score: 1241  
 qLearn(reduceStateAndActionSeeAll)(learn) positive reward 20000 frames score: 4963  
 qLearn(reduceStateAndActionSeeAll)(learnWithAverage) positive reward 20000 frames score: 4965
-qLearn(reduceStateAndActionSeeAllDistance)(learn) positive reward 20000 frames score: 4920  
-qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) positive reward 20000 frames score: 4168  
+qLearn(reduceStateAndActionSeeAllDistance)(learn) positive reward 20000 frames score: 3266  
+qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) positive reward 20000 frames score: 4740  
 qLearn(reduceStateAndActionSeeNearestOnly)(learn) positive reward 20000 frames score: 2333
-qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) positive reward 20000 frames score: 1438      
+qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) positive reward 20000 frames score: 2165      
 random negative reward 20000 frames score: -1235
-qLearn(reduceStateAndActionSeeAll)(learn) negative reward 20000 frames score: -180
-qLearn(reduceStateAndActionSeeAll)(learnWithAverage) negative reward 20000 frames score: -255
-qLearn(reduceStateAndActionSeeAllDistance)(learn) negative reward 20000 frames score: -554
-qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) negative reward 20000 frames score: -983      
-qLearn(reduceStateAndActionSeeNearestOnly)(learn) negative reward 20000 frames score: -549
-qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 20000 frames score: -621      
+qLearn(reduceStateAndActionSeeAll)(learn) negative reward 20000 frames score: -28
+qLearn(reduceStateAndActionSeeAll)(learnWithAverage) negative reward 20000 frames score: -28
+qLearn(reduceStateAndActionSeeAllDistance)(learn) negative reward 20000 frames score: -95
+qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) negative reward 20000 frames score: -135      
+qLearn(reduceStateAndActionSeeNearestOnly)(learn) negative reward 20000 frames score: -19
+qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 20000 frames score: -15      
 random positive reward 200000 frames score: 12442
 qLearn(reduceStateAndActionSeeAll)(learn) positive reward 200000 frames score: 49963
 qLearn(reduceStateAndActionSeeAll)(learnWithAverage) positive reward 200000 frames score: 49965
@@ -39,4 +39,4 @@ qLearn(reduceStateAndActionSeeAll)(learnWithAverage) negative reward 200000 fram
 qLearn(reduceStateAndActionSeeAllDistance)(learn) negative reward 200000 frames score: -4823
 qLearn(reduceStateAndActionSeeAllDistance)(learnWithAverage) negative reward 200000 frames score: -9479    
 qLearn(reduceStateAndActionSeeNearestOnly)(learn) negative reward 200000 frames score: -5707
-qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 200000 frames score: -6299
\ No newline at end of file
+qLearn(reduceStateAndActionSeeNearestOnly)(learnWithAverage) negative reward 200000 frames score: -6299
diff --git a/js/ai/qlearn/examples/eatFoodAvoidDanger/eatFoodAvoidDanger.js b/js/ai/qlearn/examples/eatFoodAvoidDanger/eatFoodAvoidDanger.js
index e47e782..2a6a557 100644
--- a/js/ai/qlearn/examples/eatFoodAvoidDanger/eatFoodAvoidDanger.js
+++ b/js/ai/qlearn/examples/eatFoodAvoidDanger/eatFoodAvoidDanger.js
@@ -93,7 +93,7 @@ const start = ({ display, MAX_FRAMES }) => {
             previousStateActions: stateActions,
             stateActions: stateActionsAfter,
             previousAction: actionName,
-            actionNames,
+            previousActions: actionNames,
             reward,
         });
         frame += 1;
@@ -105,4 +105,4 @@ const start = ({ display, MAX_FRAMES }) => {
     };
 
     step();
-};
\ No newline at end of file
+};
diff --git a/js/ai/qlearn/package-lock.json b/js/ai/qlearn/package-lock.json
index b15eee3..d29d281 100644
--- a/js/ai/qlearn/package-lock.json
+++ b/js/ai/qlearn/package-lock.json
@@ -1,29 +1,88 @@
 {
   "name": "qlearn",
-  "version": "5.0.1",
+  "version": "6.0.0",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {
     "@babel/code-frame": {
-      "version": "7.5.5",
-      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.5.5.tgz",
-      "integrity": "sha512-27d4lZoomVyo51VegxI20xZPuSHusqbQag/ztrBC7wegWoQ1nLREPVSKSW8byhTlzTKyNE4ifaTA6lCp7JjpFw==",
+      "version": "7.12.11",
+      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.12.11.tgz",
+      "integrity": "sha512-Zt1yodBx1UcyiePMSkWnU4hPqhwq7hGi2nFL1LeA3EUl+q2LQx16MISgJ0+z7dnmgvP9QtIleuETGOiOH1RcIw==",
       "dev": true,
       "requires": {
-        "@babel/highlight": "^7.0.0"
+        "@babel/highlight": "^7.10.4"
       }
     },
+    "@babel/helper-validator-identifier": {
+      "version": "7.14.9",
+      "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.14.9.tgz",
+      "integrity": "sha512-pQYxPY0UP6IHISRitNe8bsijHex4TWZXi2HwKVsjPiltzlhse2znVcm9Ace510VT1kxIHjGJCZZQBX2gJDbo0g==",
+      "dev": true
+    },
     "@babel/highlight": {
-      "version": "7.5.0",
-      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.5.0.tgz",
-      "integrity": "sha512-7dV4eu9gBxoM0dAnj/BCFDW9LFU0zvTrkq0ugM7pnHEgguOEeOz1so2ZghEdzviYzQEED0r4EAgpsBChKy1TRQ==",
+      "version": "7.14.5",
+      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.14.5.tgz",
+      "integrity": "sha512-qf9u2WFWVV0MppaL877j2dBtQIDgmidgjGk5VIMw3OadXvYaXn66U1BFlH2t4+t3i+8PhedppRv+i40ABzd+gg==",
       "dev": true,
       "requires": {
+        "@babel/helper-validator-identifier": "^7.14.5",
         "chalk": "^2.0.0",
-        "esutils": "^2.0.2",
         "js-tokens": "^4.0.0"
+      },
+      "dependencies": {
+        "chalk": {
+          "version": "2.4.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-2.4.2.tgz",
+          "integrity": "sha512-Mti+f9lpJNcwF4tWV8/OrTTtF1gZi+f8FqlyAdouralcFWFQWF2+NgCHShjkCb+IFBLq9buZwE1xckQU4peSuQ==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.1",
+            "escape-string-regexp": "^1.0.5",
+            "supports-color": "^5.3.0"
+          }
+        },
+        "escape-string-regexp": {
+          "version": "1.0.5",
+          "resolved": "https://registry.npmjs.org/escape-string-regexp/-/escape-string-regexp-1.0.5.tgz",
+          "integrity": "sha1-G2HAViGQqN/2rjuyzwIAyhMLhtQ=",
+          "dev": true
+        }
       }
     },
+    "@eslint/eslintrc": {
+      "version": "0.4.3",
+      "resolved": "https://registry.npmjs.org/@eslint/eslintrc/-/eslintrc-0.4.3.tgz",
+      "integrity": "sha512-J6KFFz5QCYUJq3pf0mjEcCJVERbzv71PUIDczuh9JkwGEzced6CO5ADLHB1rbf/+oPBtoPfMYNOpGDzCANlbXw==",
+      "dev": true,
+      "requires": {
+        "ajv": "^6.12.4",
+        "debug": "^4.1.1",
+        "espree": "^7.3.0",
+        "globals": "^13.9.0",
+        "ignore": "^4.0.6",
+        "import-fresh": "^3.2.1",
+        "js-yaml": "^3.13.1",
+        "minimatch": "^3.0.4",
+        "strip-json-comments": "^3.1.1"
+      }
+    },
+    "@humanwhocodes/config-array": {
+      "version": "0.5.0",
+      "resolved": "https://registry.npmjs.org/@humanwhocodes/config-array/-/config-array-0.5.0.tgz",
+      "integrity": "sha512-FagtKFz74XrTl7y6HCzQpwDfXP0yhxe9lHLD1UZxjvZIcbyRz8zTFF/yYNfSfzU414eDwZ1SrO0Qvtyf+wFMQg==",
+      "dev": true,
+      "requires": {
+        "@humanwhocodes/object-schema": "^1.2.0",
+        "debug": "^4.1.1",
+        "minimatch": "^3.0.4"
+      }
+    },
+    "@humanwhocodes/object-schema": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/@humanwhocodes/object-schema/-/object-schema-1.2.0.tgz",
+      "integrity": "sha512-wdppn25U8z/2yiaT6YGquE6X8sSv7hNMWSXYSSU1jGv/yd6XqjXgTDJ8KP4NgjTXfJ3GbRjeeb8RTV7a/VpM+w==",
+      "dev": true
+    },
     "@zeit/schemas": {
       "version": "2.6.0",
       "resolved": "https://registry.npmjs.org/@zeit/schemas/-/schemas-2.6.0.tgz",
@@ -41,24 +100,24 @@
       }
     },
     "acorn": {
-      "version": "7.1.0",
-      "resolved": "https://registry.npmjs.org/acorn/-/acorn-7.1.0.tgz",
-      "integrity": "sha512-kL5CuoXA/dgxlBbVrflsflzQ3PAas7RYZB52NOm/6839iVYJgKMJ3cQJD+t2i5+qFa8h3MDpEOJiS64E8JLnSQ==",
+      "version": "7.4.1",
+      "resolved": "https://registry.npmjs.org/acorn/-/acorn-7.4.1.tgz",
+      "integrity": "sha512-nQyp0o1/mNdbTO1PO6kHkwSrmgZ0MT/jCCpNiwbUjGoRN4dlBhqJtoQuCnEOKzgTVwg0ZWiCoQy6SxMebQVh8A==",
       "dev": true
     },
     "acorn-jsx": {
-      "version": "5.0.2",
-      "resolved": "https://registry.npmjs.org/acorn-jsx/-/acorn-jsx-5.0.2.tgz",
-      "integrity": "sha512-tiNTrP1MP0QrChmD2DdupCr6HWSFeKVw5d/dHTu4Y7rkAkRhU/Dt7dphAfIUyxtHpl/eBVip5uTNSpQJHylpAw==",
+      "version": "5.3.2",
+      "resolved": "https://registry.npmjs.org/acorn-jsx/-/acorn-jsx-5.3.2.tgz",
+      "integrity": "sha512-rq9s+JNhf0IChjtDXxllJ7g41oZk5SlXtp0LHwyA5cejwn7vKmKp4pPri6YEePv2PU65sAsegbXtIinmDFDXgQ==",
       "dev": true
     },
     "ajv": {
-      "version": "6.10.2",
-      "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.10.2.tgz",
-      "integrity": "sha512-TXtUUEYHuaTEbLZWIKUr5pmBuhDLy+8KYtPYdcV8qC+pOZL+NKqYwvWSRrVXHn+ZmRRAu8vJTAznH7Oag6RVRw==",
+      "version": "6.12.6",
+      "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.12.6.tgz",
+      "integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
       "dev": true,
       "requires": {
-        "fast-deep-equal": "^2.0.1",
+        "fast-deep-equal": "^3.1.1",
         "fast-json-stable-stringify": "^2.0.0",
         "json-schema-traverse": "^0.4.1",
         "uri-js": "^4.2.2"
@@ -71,18 +130,51 @@
       "dev": true,
       "requires": {
         "string-width": "^2.0.0"
+      },
+      "dependencies": {
+        "ansi-regex": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz",
+          "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=",
+          "dev": true
+        },
+        "is-fullwidth-code-point": {
+          "version": "2.0.0",
+          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-2.0.0.tgz",
+          "integrity": "sha1-o7MKXE8ZkYMWeqq5O+764937ZU8=",
+          "dev": true
+        },
+        "string-width": {
+          "version": "2.1.1",
+          "resolved": "https://registry.npmjs.org/string-width/-/string-width-2.1.1.tgz",
+          "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==",
+          "dev": true,
+          "requires": {
+            "is-fullwidth-code-point": "^2.0.0",
+            "strip-ansi": "^4.0.0"
+          }
+        },
+        "strip-ansi": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-4.0.0.tgz",
+          "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=",
+          "dev": true,
+          "requires": {
+            "ansi-regex": "^3.0.0"
+          }
+        }
       }
     },
-    "ansi-escapes": {
-      "version": "3.2.0",
-      "resolved": "https://registry.npmjs.org/ansi-escapes/-/ansi-escapes-3.2.0.tgz",
-      "integrity": "sha512-cBhpre4ma+U0T1oM5fXg7Dy1Jw7zzwv7lt/GoCpr+hDQJoYnKVPLL4dCvSEFMmQurOQvSrwT7SL/DAlhBI97RQ==",
+    "ansi-colors": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-colors/-/ansi-colors-4.1.1.tgz",
+      "integrity": "sha512-JoX0apGbHaUJBNl6yF+p6JAFYZ666/hhCGKN5t9QFjbJQKUU/g8MNbFDbvfrgKXvI1QpZplPOnwIo99lX/AAmA==",
       "dev": true
     },
     "ansi-regex": {
-      "version": "3.0.0",
-      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz",
-      "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=",
+      "version": "5.0.0",
+      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-5.0.0.tgz",
+      "integrity": "sha512-bY6fj56OUQ0hU1KjFNDQuJFezqKdrAyFdIevADiqrWHwSlbmBNMHp5ak2f40Pm8JTFyM2mqxkG6ngkHO11f/lg==",
       "dev": true
     },
     "ansi-styles": {
@@ -95,9 +187,9 @@
       }
     },
     "arch": {
-      "version": "2.1.1",
-      "resolved": "https://registry.npmjs.org/arch/-/arch-2.1.1.tgz",
-      "integrity": "sha512-BLM56aPo9vLLFVa8+/+pJLnrZ7QGGTVHWsCwieAWT9o9K8UeGaQbzZbGoabWLOo2ksBCztoXdqBZBplqLDDCSg==",
+      "version": "2.2.0",
+      "resolved": "https://registry.npmjs.org/arch/-/arch-2.2.0.tgz",
+      "integrity": "sha512-Of/R0wqp83cgHozfIYLbBMnej79U/SVGOOyuB3VVFv1NRM/PSFMK12x9KVtiYzJqmnU5WR2qp0Z5rHb7sWGnFQ==",
       "dev": true
     },
     "arg": {
@@ -116,15 +208,15 @@
       }
     },
     "astral-regex": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/astral-regex/-/astral-regex-1.0.0.tgz",
-      "integrity": "sha512-+Ryf6g3BKoRc7jfp7ad8tM4TtMiaWvbF/1/sQcZPkkS7ag3D5nMBCe2UfOTONtAkaG0tO0ij3C5Lwmf1EiyjHg==",
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/astral-regex/-/astral-regex-2.0.0.tgz",
+      "integrity": "sha512-Z7tMw1ytTXt5jqMcOP+OQteU1VuNK9Y02uuJtKQ1Sv69jXQKKg5cibLwGJow8yzZP+eAc18EmLGPal0bp36rvQ==",
       "dev": true
     },
     "balanced-match": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
-      "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c=",
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.2.tgz",
+      "integrity": "sha512-3oSeUO0TMV67hN1AmbXsK4yaqU7tjiHlbxRDZOpH0KW9+CeX4bRAaX0Anxt0tx2MrpRpWwQaPwIlISEJhYU5Pw==",
       "dev": true
     },
     "boxen": {
@@ -140,6 +232,56 @@
         "string-width": "^2.0.0",
         "term-size": "^1.2.0",
         "widest-line": "^2.0.0"
+      },
+      "dependencies": {
+        "ansi-regex": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz",
+          "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=",
+          "dev": true
+        },
+        "chalk": {
+          "version": "2.4.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-2.4.2.tgz",
+          "integrity": "sha512-Mti+f9lpJNcwF4tWV8/OrTTtF1gZi+f8FqlyAdouralcFWFQWF2+NgCHShjkCb+IFBLq9buZwE1xckQU4peSuQ==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.1",
+            "escape-string-regexp": "^1.0.5",
+            "supports-color": "^5.3.0"
+          }
+        },
+        "escape-string-regexp": {
+          "version": "1.0.5",
+          "resolved": "https://registry.npmjs.org/escape-string-regexp/-/escape-string-regexp-1.0.5.tgz",
+          "integrity": "sha1-G2HAViGQqN/2rjuyzwIAyhMLhtQ=",
+          "dev": true
+        },
+        "is-fullwidth-code-point": {
+          "version": "2.0.0",
+          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-2.0.0.tgz",
+          "integrity": "sha1-o7MKXE8ZkYMWeqq5O+764937ZU8=",
+          "dev": true
+        },
+        "string-width": {
+          "version": "2.1.1",
+          "resolved": "https://registry.npmjs.org/string-width/-/string-width-2.1.1.tgz",
+          "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==",
+          "dev": true,
+          "requires": {
+            "is-fullwidth-code-point": "^2.0.0",
+            "strip-ansi": "^4.0.0"
+          }
+        },
+        "strip-ansi": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-4.0.0.tgz",
+          "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=",
+          "dev": true,
+          "requires": {
+            "ansi-regex": "^3.0.0"
+          }
+        }
       }
     },
     "brace-expansion": {
@@ -171,78 +313,145 @@
       "dev": true
     },
     "chalk": {
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-          "dev": true,
-          "requires": {
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-          }
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+        "emoji-regex": "^8.0.0",
+        "is-fullwidth-code-point": "^3.0.0",
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-          "dev": true
-        }
+        "ansi-regex": "^5.0.0"
       }
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@@ -1296,9 +1513,9 @@
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@@ -1311,27 +1528,36 @@
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-        "ajv": "^6.10.2",
-        "lodash": "^4.17.14",
-        "slice-ansi": "^2.1.0",
-        "string-width": "^3.0.0"
+        "ajv": "^8.0.1",
+        "lodash.clonedeep": "^4.5.0",
+        "lodash.truncate": "^4.4.2",
+        "slice-ansi": "^4.0.0",
+        "string-width": "^4.2.0",
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+        "ajv": {
+          "version": "8.6.2",
+          "resolved": "https://registry.npmjs.org/ajv/-/ajv-8.6.2.tgz",
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           "requires": {
-            "emoji-regex": "^7.0.1",
-            "is-fullwidth-code-point": "^2.0.0",
-            "strip-ansi": "^5.1.0"
+            "fast-deep-equal": "^3.1.1",
+            "json-schema-traverse": "^1.0.0",
+            "require-from-string": "^2.0.2",
+            "uri-js": "^4.2.2"
           }
+        },
+        "json-schema-traverse": {
+          "version": "1.0.0",
+          "resolved": "https://registry.npmjs.org/json-schema-traverse/-/json-schema-traverse-1.0.0.tgz",
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+          "dev": true
         }
       }
     },
@@ -1350,36 +1576,21 @@
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+    "type-check": {
+      "version": "0.4.0",
+      "resolved": "https://registry.npmjs.org/type-check/-/type-check-0.4.0.tgz",
+      "integrity": "sha512-XleUoc9uwGXqjWwXaUTZAmzMcFZ5858QA2vvx1Ur5xIcixXIP+8LnFDgRplU30us6teqdlskFfu+ae4K79Ooew==",
       "dev": true,
       "requires": {
-        "os-tmpdir": "~1.0.2"
+        "prelude-ls": "^1.2.1"
       }
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-    "tslib": {
-      "version": "1.10.0",
-      "resolved": "https://registry.npmjs.org/tslib/-/tslib-1.10.0.tgz",
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+    "type-fest": {
+      "version": "0.20.2",
+      "resolved": "https://registry.npmjs.org/type-fest/-/type-fest-0.20.2.tgz",
+      "integrity": "sha512-Ne+eE4r0/iWnpAxD852z3A+N0Bt5RN//NjJwRd2VFHEmrywxf5vsZlh4R6lixl6B+wz/8d+maTSAkN1FIkI3LQ==",
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@@ -1391,24 +1602,24 @@
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-      "resolved": "https://registry.npmjs.org/uri-js/-/uri-js-4.2.2.tgz",
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+      "version": "4.4.1",
+      "resolved": "https://registry.npmjs.org/uri-js/-/uri-js-4.4.1.tgz",
+      "integrity": "sha512-7rKUyy33Q1yc98pQ1DAmLtwX109F7TIfWlW1Ydo8Wl1ii1SeHieeh0HHfPeL2fMXK6z0s8ecKs9frCuLJvndBg==",
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-      "version": "12.1.0",
-      "resolved": "https://registry.npmjs.org/utilsac/-/utilsac-12.1.0.tgz",
-      "integrity": "sha512-6RykMRtu5X738jCFUHOK4FXypMaROzC9Kvgmb+RXawueXc0DKCtryBsMxzTRvnu5eh5NbNwL8c1jCcfCeR8oyg==",
+      "version": "14.2.1",
+      "resolved": "https://registry.npmjs.org/utilsac/-/utilsac-14.2.1.tgz",
+      "integrity": "sha512-DEPIe/FxkxOhpCaI8KdVp5e7iX29Dv9IDCdjKds5q+ndr1VvkxrwoIkuKjxTuKkuNg4ScIQuXZI0tS9K1zKnqQ==",
       "dev": true
     },
     "v8-compile-cache": {
-      "version": "2.1.0",
-      "resolved": "https://registry.npmjs.org/v8-compile-cache/-/v8-compile-cache-2.1.0.tgz",
-      "integrity": "sha512-usZBT3PW+LOjM25wbqIlZwPeJV+3OSz3M1k1Ws8snlW39dZyYL9lOGC5FgPVHfk0jKmjiDV8Z0mIbVQPiwFs7g==",
+      "version": "2.3.0",
+      "resolved": "https://registry.npmjs.org/v8-compile-cache/-/v8-compile-cache-2.3.0.tgz",
+      "integrity": "sha512-l8lCEmLcLYZh4nbunNZvQCJc5pv7+RCwa8q/LdUx8u7lsWvPDKmpodJAJNwkAhJC//dFY48KuIEmjtd4RViDrA==",
       "dev": true
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@@ -1418,9 +1629,9 @@
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-      "version": "1.3.1",
-      "resolved": "https://registry.npmjs.org/which/-/which-1.3.1.tgz",
-      "integrity": "sha512-HxJdYWq1MTIQbJ3nw0cqssHoTNU267KlrDuGZ1WYlxDStUtKUhOaJmh112/TZmHxxUfuJqPXSOm7tDyas0OSIQ==",
+      "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
+      "integrity": "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==",
       "dev": true,
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         "isexe": "^2.0.0"
@@ -1433,12 +1644,45 @@
       "dev": true,
       "requires": {
         "string-width": "^2.1.1"
+      },
+      "dependencies": {
+        "ansi-regex": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz",
+          "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=",
+          "dev": true
+        },
+        "is-fullwidth-code-point": {
+          "version": "2.0.0",
+          "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-2.0.0.tgz",
+          "integrity": "sha1-o7MKXE8ZkYMWeqq5O+764937ZU8=",
+          "dev": true
+        },
+        "string-width": {
+          "version": "2.1.1",
+          "resolved": "https://registry.npmjs.org/string-width/-/string-width-2.1.1.tgz",
+          "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==",
+          "dev": true,
+          "requires": {
+            "is-fullwidth-code-point": "^2.0.0",
+            "strip-ansi": "^4.0.0"
+          }
+        },
+        "strip-ansi": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-4.0.0.tgz",
+          "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=",
+          "dev": true,
+          "requires": {
+            "ansi-regex": "^3.0.0"
+          }
+        }
       }
     },
-    "wordwrap": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-1.0.0.tgz",
-      "integrity": "sha1-J1hIEIkUVqQXHI0CJkQa3pDLyus=",
+    "word-wrap": {
+      "version": "1.2.3",
+      "resolved": "https://registry.npmjs.org/word-wrap/-/word-wrap-1.2.3.tgz",
+      "integrity": "sha512-Hz/mrNwitNRh/HUAtM/VT/5VH+ygD6DV7mYKZAtHOrbs8U7lvPS6xf7EJKMF0uW1KJCl0H701g3ZGus+muE5vQ==",
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@@ -1447,19 +1691,10 @@
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-      "dev": true,
-      "requires": {
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-      "version": "2.1.2",
-      "resolved": "https://registry.npmjs.org/yallist/-/yallist-2.1.2.tgz",
-      "integrity": "sha1-HBH5IY8HYImkfdUS+TxmmaaoHVI=",
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
+      "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==",
       "dev": true
     }
   }
diff --git a/js/ai/qlearn/package.json b/js/ai/qlearn/package.json
index fe7e06b..7b108e0 100644
--- a/js/ai/qlearn/package.json
+++ b/js/ai/qlearn/package.json
@@ -1,6 +1,6 @@
 {
   "name": "qlearn",
-  "version": "5.0.5",
+  "version": "6.0.0",
   "license": "CC0-1.0",
   "homepage": "https://github.com/GrosSacASac/JavaScript-Set-Up/tree/master/js/ai/qlearn",
   "type": "module",
@@ -8,12 +8,10 @@
   "scripts": {
     "lint-fix": "eslint --fix source examples",
     "lint": "eslint source examples",
-
     "node-1": "node examples/eatFoodAvoidDanger/start.js",
     "node-1-visual": "node examples/eatFoodAvoidDanger/visualDemo.js",
     "deno-1": "deno run examples/eatFoodAvoidDanger/start.js",
     "deno-1-visual": "deno run examples/eatFoodAvoidDanger/visualDemo.js",
-    
     "node-2": "node examples/dodgeShoot/start.js",
     "node-2-visual": "node examples/dodgeShoot/visualDemo.js",
     "deno-2": "deno run examples/dodgeShoot/start.js",
@@ -22,10 +20,10 @@
   },
   "dependencies": {},
   "devDependencies": {
-    "eslint": "^6.5.0",
-    "eslint-config-red": "^1.4.1",
-    "serve": "^11.2.0",
-    "utilsac": "^12.1.0"
+    "eslint": "^7.32.0",
+    "eslint-config-red": "^1.8.2",
+    "serve": "^12.0.0",
+    "utilsac": "^14.2.1"
   },
   "eslintConfig": {
     "root": true,
@@ -33,12 +31,12 @@
       "red"
     ],
     "parserOptions": {
-      "ecmaVersion": 2020,
+      "ecmaVersion": 2021,
       "sourceType": "module",
       "ecmaFeatures": {}
     },
     "env": {
-      "es6": true,
+      "es2021": true,
       "browser": true
     },
     "rules": {}
@@ -46,7 +44,8 @@
   "files": [
     "source",
     "readme.md",
-    "license.txt"
+    "license.txt",
+    "changelog.md"
   ],
   "repository": {
     "type": "git",
diff --git a/js/ai/qlearn/readme.md b/js/ai/qlearn/readme.md
index 1b5f116..27724f2 100644
--- a/js/ai/qlearn/readme.md
+++ b/js/ai/qlearn/readme.md
@@ -91,7 +91,7 @@ learn({
     previousStateActions,
     stateActions,
     previousAction,
-    actionNames,
+    previousActions,
     reward,
 });
 ```
@@ -148,8 +148,11 @@ It decides randomly.
 import { randomDecide } from "qlearn/source/randomDecide.js";
 ```
 
+### Changelog
 
-## Related
+[changelog.md](./changelog.md)
+
+### Related
 
 https://github.com/acupajoe/node-qlearning
 
diff --git a/js/ai/qlearn/source/qlearn.js b/js/ai/qlearn/source/qlearn.js
index 285302c..0dfe89c 100644
--- a/js/ai/qlearn/source/qlearn.js
+++ b/js/ai/qlearn/source/qlearn.js
@@ -56,14 +56,14 @@ const createLearn = (getNextQualityEstimation) => {
         previousStateActions,
         stateActions,
         previousAction,
-        actionNames,
+        previousActions,
         reward,
     }) => {
         let qualityForState = intelligence.qualityMap.get(previousStateActions);
         if (!qualityForState) {
             // there was no quality map for this set of state and actions
             qualityForState = new Map();
-            actionNames.forEach(actionName => {
+            previousActions.forEach(actionName => {
                 qualityForState.set(actionName, intelligence.defaultQuality);
             });
             intelligence.qualityMap.set(previousStateActions, qualityForState);
@@ -77,10 +77,13 @@ const createLearn = (getNextQualityEstimation) => {
             nextQualityEstimation = intelligence.defaultQuality;
         }
 
-        const previousQuality = qualityForState.get(previousAction);
+        let previousQuality = qualityForState.get(previousAction);
+        if (previousQuality === undefined) {
+            previousQuality = intelligence.defaultQuality;
+        }
         qualityForState.set(previousAction, previousQuality + intelligence.learnFactor * (
             reward +
-            intelligence.discountFactor * (nextQualityEstimation - previousQuality)
+            intelligence.discountFactor * nextQualityEstimation - previousQuality
         ) - intelligence.exploreBonus);
     };
 };