tokens: We propose an online coordination scheme that encapsulates ( i ) a mixed - initiative continuous controller that ensures all - time safety despite of possible human errors , ( ii ) a plan adaptation scheme that accommodates new features discovered in the workspace and short - term tasks assigned by the operator during run time , and ( iii ) an iterative inverse reinforcement learning ( IRL ) algorithm that allows the robot to asymptotically learn the human preference on the parameters during the plan synthesis .