Before revision:  We develop a novel hierarchical rewards mechanism with a task decomposition method  that enables the robot to efficiently learn a complex hierarchical dynamic task and human behavior for better HRC. The algorithm is validated in a hierarchical control task in a simulated environment with human subject experiments , and we are able to answer the question by analyzing the collected experiment results .
After revision:  We develop a novel hierarchical rewards mechanism with a task decomposition method that enables the robot to learn the hierarchical dynamic control task separately from learning the human partner's behavior. The method is validated with a hierarchical control task in a simulated environment with human subject experiments , and we are able to answer the question by analyzing the collected experiment results .