This README describes the files:
	/domain/tiago_hri_mdp.rddl									RDDL domain file+
	/random_problems/small_scale								Folder containing 30 RDDL problem files for randomised small scale problems (SR1)#
	/random_problems/large_scale								Folder containing 30 RDDL problem files for randomised large scale problems (SR2)#
	/random_problems/large_scale (3 people need assistance)		Folder containing 30 RDDL problem files for randomised large scale problems (SR3)#
	CoRL2021.avi												Video for ROS experiments demonstrating transfer learning from RDDLSim to ROS.^

+ The experiments conducted in RDDLSim uses the CPFs defined in this file to determine the successor state
+ The experiments conducted in ROS does not use the CPFs defined in this file to determine the values of some state fluents but rely on sensor measurements
# The experiments conducted in RDDLSim uses randomised problems numbered tiago_hri_inst_mdp__*_0.rddl to tiago_hri_inst_mdp__*_9.rddl
# The experiments conducted in ROS uses randomised problems numbered tiago_hri_inst_mdp__*_10.rddl to tiago_hri_inst_mdp__*_19.rddl
^ The experimental setup is described in the paper: Section 5 (Transfer Learning). The first segment (small scale problem) corresponds to row 1 in Table 1. The second segment (large scale problem) corresponds to row 3 in Table 1.