mlsanityData to 7 Oct 2026

Online inverse reinforcement learning with limited data

arXiv 2008.08972 ↗First posted 18 Aug 2020eess.SY cs.SYcited by 2

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 systems with limited data and uncertain dynamics. In the developed approach, the state and control trajectories are recorded online by observing an agent perform a task, and reward function estimation is performed in real-time using a novel inverse reinforcement learning approach. Parameter estimation is performed concurrently to help compensate for uncertainties in the agent's dynamics. Data insufficiency is resolved by developing a data-driven update law to estimate the optimal feedback controller. The estimated controller can then be queried to artificially create additional data to drive reward function estimation.

Key facts. Cited by 2 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 5 of its 22 references that are in the map. First posted on arXiv 18 Aug 2020.

Builds on

5 of 22 references.

Closest ancestors · 2

Same direction, newest first

  1. 2020Online inverse reinforcement learning with unknown disturbances9 Mar
  2. 2018Inverse reinforcement learning in continuous time and space23 Jan

Other references · 3

  1. 2016Online Output-Feedback Parameter and State Estimation for Second Order Linear Systemscited by 3
  2. 2013Approximate Optimal Trajectory Tracking for Continuous Time Nonlinear Systemscited by 2
  3. 2015Model-based reinforcement learning for infinite-horizon approximate optimal trackingcited by 2

Built on by

Cited by year

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

2 papers.

  1. 2020Online Observer-Based Inverse Reinforcement Learningcited by 4
  2. 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. 2026Data-Driven Inverse Reinforcement Learning of Linear Systems with Model Uncertainty: A Convex Optimization View
  4. 2023A Bayesian Approach to Robust Inverse Reinforcement Learning
  5. 2025Data-Driven Inverse Optimal Control for Continuous-Time Nonlinear Systems
  6. 2023Is Inverse Reinforcement Learning Harder than Standard Reinforcement Learning? A Theoretical Perspective
  7. 2025Cost Function Estimation Using Inverse Reinforcement Learning with Minimal Observations
  8. 2018Variational Inverse Control with Events: A General Framework for Data-Driven Reward Definition