# Guided Trajectory Generation with Diffusion Models for Offline Model-based Optimization

arXiv: https://arxiv.org/abs/2407.01624 · HTML: https://mlsanity.com/paper/2407.01624/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion foundations and sampling, one of 14 directions in Diffusion models.
- Builds on 39 of its 50 references that are in the map.
- First posted on arXiv 29 Jun 2024.

## Placed in

- Diffusion models / [Diffusion foundations and sampling](https://mlsanity.com/diffusion/diffusion-foundations-and-sampling/)

## Builds on (most cited first, 30 of 39)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2006.04779/) (2020)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [Structured Denoising Diffusion Models in Discrete State-Spaces](https://mlsanity.com/paper/2107.03006/) (2021)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [Is Conditional Generative Modeling all you need for Decision-Making?](https://mlsanity.com/paper/2211.15657/) (2022)
- [Flow Network based Generative Models for Non-Iterative Diverse Candidate Generation](https://mlsanity.com/paper/2106.04399/) (2021)
- [Protein Design with Guided Discrete Diffusion](https://mlsanity.com/paper/2305.20009/) (2023)
- [AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners](https://mlsanity.com/paper/2302.01877/) (2023)
- [Sample-Efficient Optimization in the Latent Space of Deep Generative Models via Weighted Retraining](https://mlsanity.com/paper/2006.09191/) (2020)
- [Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning](https://mlsanity.com/paper/2305.18459/) (2023)
- [Conditioning by adaptive sampling for robust design](https://mlsanity.com/paper/1901.10060/) (2019)
- [Design-Bench: Benchmarks for Data-Driven Offline Model-Based Optimization](https://mlsanity.com/paper/2202.08450/) (2022)
- [Conservative Objective Models for Effective Offline Model-Based Optimization](https://mlsanity.com/paper/2107.06882/) (2021)
- [Model Inversion Networks for Model-Based Optimization](https://mlsanity.com/paper/1912.13464/) (2019)
- [Safe Controller Optimization for Quadrotors with Gaussian Processes](https://mlsanity.com/paper/1509.01066/) (2015)
- [Diffusion Models for Black-Box Optimization](https://mlsanity.com/paper/2306.07180/) (2023)
- [MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL](https://mlsanity.com/paper/2305.19923/) (2023)
- [The reparameterization trick for acquisition functions](https://mlsanity.com/paper/1712.00424/) (2017)
- [Autofocused oracles for model-based design](https://mlsanity.com/paper/2006.08052/) (2020)
- [RoMA: Robust Model Adaptation for Offline Model-based Optimization](https://mlsanity.com/paper/2110.14188/) (2021)
- [Offline Model-Based Optimization via Normalized Maximum Likelihood Estimation](https://mlsanity.com/paper/2102.07970/) (2021)
- [Generative Pretraining for Black-Box Optimization](https://mlsanity.com/paper/2206.10786/) (2022)
- [Bidirectional Learning for Offline Infinite-width Model-based Optimization](https://mlsanity.com/paper/2209.07507/) (2022)
- [Diffusion Models as Constrained Samplers for Optimization with Unknown Constraints](https://mlsanity.com/paper/2402.18012/) (2024)
- [Importance-aware Co-teaching for Offline Model-based Optimization](https://mlsanity.com/paper/2309.11600/) (2023)
- [Data-efficient Learning of Morphology and Controller for a Microrobot](https://mlsanity.com/paper/1905.01334/) (2019)

## Built on by (most cited first, 15 of 15)

- [Offline Model-Based Optimization: Comprehensive Review](https://mlsanity.com/paper/2503.17286/) (2025)
- [Improved Off-policy Reinforcement Learning in Biological Sequence Design](https://mlsanity.com/paper/2410.04461/) (2024)
- [Offline Model-Based Optimization by Learning to Rank](https://mlsanity.com/paper/2410.11502/) (2024)
- [Posterior Inference with Diffusion Models for High-dimensional Black-box Optimization](https://mlsanity.com/paper/2502.16824/) (2025)
- [Towards Universal Offline Black-Box Optimization via Learning Language Model Embeddings](https://mlsanity.com/paper/2506.07109/) (2025)
- [Posterior Inference in Latent Space for Scalable Constrained Black-box Optimization](https://mlsanity.com/paper/2507.00480/) (2025)
- [ROOT: Rethinking Offline Optimization as Distributional Translation via Probabilistic Bridge](https://mlsanity.com/paper/2509.16300/) (2025)
- [Diffusion Large Language Models for Black-Box Optimization](https://mlsanity.com/paper/2601.14446/) (2026)
- [On the Learnability of Offline Model-Based Optimization: A Ranking Perspective](https://mlsanity.com/paper/2603.04000/) (2026)
- [Rejecting Hallucinated State Targets during Planning](https://mlsanity.com/paper/2410.07096/) (2024)
- [Learning Design-Score Manifold to Guide Diffusion Models for Offline Optimization](https://mlsanity.com/paper/2506.05680/) (2025)
- [Inference Time Policy Optimization for Offline RL with Differentiable World Models](https://mlsanity.com/paper/2603.22430/) (2026)
- [Support-Proximity Augmented Diffusion Estimation for Offline Black-Box Optimization](https://mlsanity.com/paper/2605.11246/) (2026)
- [Black-Box Optimization From Small Offline Datasets via Meta Learning with Synthetic Tasks](https://mlsanity.com/paper/2604.12325/) (2026)
- [Rethinking Learnability in Offline Data-driven Optimization](https://mlsanity.com/paper/2609.01493/) (2026)

## Abstract (arXiv)

Optimizing complex and high-dimensional black-box functions is ubiquitous in science and engineering fields. Unfortunately, the online evaluation of these functions is restricted due to time and safety constraints in most cases. In offline model-based optimization (MBO), we aim to find a design that maximizes the target function using only a pre-existing offline dataset. While prior methods consider forward or inverse approaches to address the problem, these approaches are limited by conservatism and the difficulty of learning highly multi-modal mappings. Recently, there has been an emerging paradigm of learning to improve solutions with synthetic trajectories constructed from the offline dataset. In this paper, we introduce a novel conditional generative modeling approach to produce trajectories toward high-scoring regions. First, we construct synthetic trajectories toward high-scoring regions using the dataset while injecting locality bias for consistent improvement directions. Then, we train a conditional diffusion model to generate trajectories conditioned on their scores. Lastly, we sample multiple trajectories from the trained model with guidance to explore high-scoring regions beyond the dataset and select high-fidelity designs among generated trajectories with the proxy function. Extensive experiment results demonstrate that our method outperforms competitive baselines on Design-Bench and its practical variants. The code is publicly available in texttthttps://github.com/dbsxodud-11/GTG.