Robots learning interactively with a human part- ner has several open questions, one of which is increasing the efficiency of learning. One approach to this problem in the Reinforcement Learning domain is to use options, temporally extended actions, instead of primitive actions. In this work, we aim to develop a robot system that can discriminate meaningful options from observations of human use of low-level primitive actions. Our approach is inspired by psychological findings about human action parsing, which posits that we attend to low-level statistical regularities to determine action boundary choices. We implement a human-like action segmentation system for automatic option discovery and evaluate our approach and show that option-based learning converges to the optimal solutions faster compared with primitive-action-based learning.
