Transfer Learning for Human Navigation and Triage Strategies Prediction in a Simulated Urban Search and Rescue Task

Abstract

To build an agent providing assistance to human rescuers in an urban search and rescue task, it is crucial to understand not only human actions but also human beliefs that may influence the decision to take these actions. Developing data-driven models to predict a rescuer's strategies for navigating the environment and triaging victims requires costly data collection and training for each new environment of interest. Transfer learning approaches can be used to mitigate this challenge, allowing a model trained on a source environment/task to generalize to a previously unseen target environment/task with few training examples. In this paper, we investigate transfer learning (a) from a source environment with smaller number of types of injured victims to one with larger number of victim injury classes and (b) from a smaller and simpler environment to a larger and more complex one for navigation strategy. Inspired by hierarchical organization of human spatial cognition, we used graph division to represent spatial knowledge, and Transfer Learning Diffusion Convolutional Recurrent Neural Network (TL-DCRNN), a spatial and temporal graph-based recurrent neural network suitable for transfer learning, to predict navigation. To abstract the rescue strategy from a rescuer's field-of-view stream, we used attention-based LSTM networks. We experimented on various transfer learning scenarios and evaluated the performance using mean average error. Results indicated our assistant agent can improve predictive accuracy and learn target tasks faster when equipped with transfer learning methods.