mlsanityData to 7 Oct 2026

Online inverse reinforcement learning with unknown disturbances

arXiv 2003.03912 ↗First posted 9 Mar 2020eess.SY cs.SY math.OCcited by 5

On the map: Offline RL and imitation learning from data → Inverse reinforcement learning

Abstract (arXiv)

This paper addresses the problem of online inverse reinforcement learning for nonlinear systems with modeling uncertainties while in the presence of unknown disturbances. The developed approach observes state and input trajectories for an agent and identifies the unknown reward function online. Sub-optimality introduced in the observed trajectories by the unknown external disturbance is compensated for using a novel model-based inverse reinforcement learning approach. The observer estimates the external disturbances and uses the resulting estimates to learn the dynamic model of the demonstrator. The learned demonstrator model along with the observed suboptimal trajectories are used to implement inverse reinforcement learning. Theoretical guarantees are provided using Lyapunov theory and a simulation example is shown to demonstrate the effectiveness of the proposed technique.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Placed in Inverse reinforcement learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 2 of its 22 references that are in the map. First posted on arXiv 9 Mar 2020.

Builds on

2 of 22 references.

Closest ancestors · 1

Same direction, newest first

  1. 2018Inverse reinforcement learning in continuous time and space23 Jan

Other references · 1

  1. 2017Online Simultaneous State and Parameter Estimation for Second-order Nonlinear Systemscited by 2

Built on by

Cited by year

Citing papers per year: 2020: 2; 2021: 0; 2022: 0; 2023: 1; 2024: 1; 2025: 1.

5 papers.

  1. 2024A Comprehensive Survey on Inverse Constrained Reinforcement Learning: Definitions, Progress and Challengescited by 10
  2. 2020Online Observer-Based Inverse Reinforcement Learningcited by 4
  3. 2020Online inverse reinforcement learning with limited datacited by 2
  4. 2023Data-Driven Inverse Reinforcement Learning for Expert-Learner Zero-Sum Gamescited by 0
  5. 2025Recursive Deep Inverse Reinforcement Learningcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2018Online inverse reinforcement learning for nonlinear systems
  2. 2018A Framework and Method for Online Inverse Reinforcement Learning
  3. 2024In-Trajectory Inverse Reinforcement Learning: Learn Incrementally Before An Ongoing Trajectory Terminates
  4. 2025Offline Reinforcement Learning via Inverse Optimization
  5. 2021Inverse Reinforcement Learning in a Continuous State Space with Formal Guarantees
  6. 2025Data-Driven Inverse Optimal Control for Continuous-Time Nonlinear Systems
  7. 2023A Bayesian Approach to Robust Inverse Reinforcement Learning
  8. 2020Inverse Reinforcement Learning from a Gradient-based Learner