X_train_data = pd.DataFrame({'Age':[0,2,4,13,35,-1,54]})
bins= [0,2,4,13,20,110]
labels = ['Infant','Toddler','Kid','Teen','Adult']
X_train_data['AgeGroup'] = pd.cut(X_train_data['Age'], bins=bins, labels=labels, right=False)
print (X_train_data)
Age AgeGroup
0 0 Infant
1 2 Toddler
2 4 Kid
3 13 Teen
4 35 Adult
5 -1 NaN
6 54 Adult