Based on our documentation for Authentication (https://developer.okta.com/use_cases/authentication/), Oauth2 (https://developer.okta.com/docs/api/resources/oauth2#request-a-token) (which I assume is what you would be using once the access token was generated) and SAML (https://developer.okta.com/standards/SAML/index), I don't believe that is possible.
However, I recommend opening up a case with Developer Support (email: email@example.com) and running the question by them. At the very least, they should be able to confirm if I am correct - and if not, they should be able to assist with the implementation.
Technical Support Engineer
Okta Global Customer Care