Before revision:  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:  The algorithm is validated in a hierarchical control task in a simulated environment with human subject experiments . Our method also provides insight into the design of the learning strategy for HRC. The results show that the robot should learn the task first to achieve higher team performance and learn the human first to achieve higher learning efficiency .