[verb half] + 了 / 过 + [object half]
[verb half] + 了 + [duration / number] + (的) + [object half]
跟 / 和 + [person] + [separable verb]
[verb half] + [person] + 的 + [object half]
A separable verb (离合词) looks like one word but is built from a verb and its object: 睡觉 is literally "sleep a sleep", 见面 "see face", 帮忙 "help with a task". Anything that would go between a verb and its object goes between the two halves.
The common ones: 睡觉, 见面, 帮忙, 生气, 结婚, 毕业, 洗澡, 游泳, 跳舞, 唱歌, 上课, 下班, 聊天, 散步, 请假.
A separable verb already has its object, so it can't take another. The person goes in front with 跟 or 和, or inside the verb with 的.
帮助 and 学习 look similar but are ordinary verbs, so 帮助我 is fine.
To double a separable verb, double only the verb half.