Before revision:  To validate the effectiveness of H2R-AT, two representative task scenarios , " serve water for a human in a kitchen" and " pick up a defective gear in a factory" with abnormal robot executions, were designed in an open-access simulation platform V-REP;
After revision:  To validate the effectiveness of H2R-AT, two representative task scenarios , " serve water for a human in a kitchen" and " pick up a defective gear in a factory" with abnormal robot executions, were designed in a simulation framework CRAIhri with abnormal robot manipulations; and