Before revision:  In this paper, we hypothesize that the robot needs to learn the task separately from learning the behavior of the human partner to improve learning efficiency and outcomes. This leads to a fundamental question: Should the robot learn the task first or learn the human behavior first (Fig. 1)? 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.
After revision:  In this paper, we hypothesize that the robot needs to learn the task separately from learning the behavior of the human partner to improve learning efficiency and team performance. This work proposes a novel task decomposition method that enables the robot to efficiently learn a complex hierarchical dynamic task and human behavior for better HRC.