A differential dynamic programming framework for inverse reinforcement learning

• Main Authors: Cao, Kun, Xu, Xinhang, Jin, Wanxin, Johansson, Karl H., Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2025
• Subjects: Engineering; Inverse reinforcement learning; Constrained optimal control
• Online Access: https://hdl.handle.net/10356/181965; http://arxiv.org/abs/2407.19902v1

A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and constraints from demonstrations. Different from existing work, where DDP was used for the inner forward problem with...