The exercise, which included 20 U.S. soldiers visiting facilities in three Chinese cities, are meant to bring the two rivals closer together through non-combat military collaboration, and to allay fears of countries in the region worried over China's rising influence.

"Our senior leaders have been pretty clear: they're seeking a positive, cooperative and comprehensive relationship between our two nations," said Maj. Gen. Stephen Lyons, commander of the U.S. Army's 8th Theater Sustainment Command, based in Hawaii.