Social Heirarchical Learning aims to enable effective human robot collaboration and was the basis of Dr. Bradley Hayes's research while under Professor Scassellati at the Social Robotics Lab. After working under Brad for the previous two summers, I had the oppourtunity to fully explore his work through the Science Research Program at Choate. To write this paper, I read everything from review articles on the field of artificial intelligence and machine learning, to review articles on the specific subsets of the forementioned fields, such as hierarchical leraning, to all of Brad's papers from his time at Yale. In addition, I also spent a considerable amount of time going through Berkeley's Artifical Intelligence course to ensure a comprehensive understanding of the ideas I discuss. Although Brad moved on to do great things at MIT, I had the oppourtunity to continue in Professor Brian Scassellati's lab for a third summer under Dr. Olivier Mangin and Dr. Alessandro Roncone, who picked up where Brad's research left off. .