mlsanityData to 7 Oct 2026

Pilot Performance modeling via observer-based inverse reinforcement learning

arXiv 2307.13150 ↗First posted 24 Jul 2023eess.SY cs.SY math.OCcited by 1

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

Abstract (arXiv)

The focus of this paper is behavior modeling for pilots of unmanned aerial vehicles. The pilot is assumed to make decisions that optimize an unknown cost functional, which is estimated from observed trajectories using a novel inverse reinforcement learning (IRL) framework. The resulting IRL problem often admits multiple solutions. In this paper, a recently developed novel IRL observer is adapted to the pilot modeling problem. The observer is shown to converge to one of the equivalent solutions of the IRL problem. The developed technique is implemented on a quadcopter where the pilot is a linear quadratic supervisory controller that generates velocity commands for the quadcopter to travel to and hover over a desired location. Experimental results demonstrate the robustness of the method and its ability to learn equivalent cost functionals.

Key facts. Cited by 1 paper 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 34 references that are in the map. First posted on arXiv 24 Jul 2023.

Builds on

2 of 34 references.

Closest ancestors · 2

Same direction, newest first

  1. 2022Nonuniqueness and Convergence to Equivalent Solutions in Observer-based Inverse Reinforcement Learning28 Oct
  2. 2020Online Observer-Based Inverse Reinforcement Learning3 Nov

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Cited by year

Citing papers per year: 2024: 1.

1 paper.

  1. 2024ARMCHAIR: integrated inverse reinforcement learning and model predictive control for human-robot collaborationcited by 2

Similar, not cited

Close in wording, no citation either way

  1. 2020Learn to Exceed: Stereo Inverse Reinforcement Learning with Concurrent Policy Optimization
  2. 2018A Survey of Inverse Reinforcement Learning: Challenges, Methods and Progress
  3. 2024Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
  4. 2020Online inverse reinforcement learning with unknown disturbances
  5. 2024A Learning-based Quadcopter Controller with Extreme Adaptation
  6. 2025RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation
  7. 2018Online inverse reinforcement learning for nonlinear systems
  8. 2025Multi-Agent Inverse Reinforcement Learning for Identifying Pareto-Efficient Coordination -- A Distributionally Robust Approach