# OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning

arXiv: https://arxiv.org/abs/2407.14653 · HTML: https://mlsanity.com/paper/2407.14653/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Safe offline RL, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 74 of its 87 references that are in the map.
- First posted on arXiv 19 Jul 2024.

## Placed in

- Offline RL and imitation learning from data / [Safe offline RL](https://mlsanity.com/offlinerl/safe-offline-rl/)

## Builds on (most cited first, 30 of 74)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Generative Modeling by Estimating Gradients of the Data Distribution](https://mlsanity.com/paper/1907.05600/) (2019)
- [Improved Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2102.09672/) (2021)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2006.04779/) (2020)
- [Decision Transformer: Reinforcement Learning via Sequence Modeling](https://mlsanity.com/paper/2106.01345/) (2021)
- [D4RL: Datasets for Deep Data-Driven Reinforcement Learning](https://mlsanity.com/paper/2004.07219/) (2020)
- [Off-Policy Deep Reinforcement Learning without Exploration](https://mlsanity.com/paper/1812.02900/) (2018)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [Constrained Policy Optimization](https://mlsanity.com/paper/1705.10528/) (2017)
- [A Minimalist Approach to Offline Reinforcement Learning](https://mlsanity.com/paper/2106.06860/) (2021)
- [Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction](https://mlsanity.com/paper/1906.00949/) (2019)
- [Is Conditional Generative Modeling all you need for Decision-Making?](https://mlsanity.com/paper/2211.15657/) (2022)
- [Semi-Supervised Learning with Deep Generative Models](https://mlsanity.com/paper/1406.5298/) (2014)
- [Sampling is as easy as learning the score: theory for diffusion models with minimal data assumptions](https://mlsanity.com/paper/2209.11215/) (2022)
- [Reward Constrained Policy Optimization](https://mlsanity.com/paper/1805.11074/) (2018)
- [Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning](https://mlsanity.com/paper/2108.06266/) (2021)
- [Risk-Constrained Reinforcement Learning with Percentile Risk Criteria](https://mlsanity.com/paper/1512.01629/) (2015)
- [Responsive Safety in Reinforcement Learning by PID Lagrangian Methods](https://mlsanity.com/paper/2007.03964/) (2020)
- [Batch Policy Learning under Constraints](https://mlsanity.com/paper/1903.08738/) (2019)
- [Offline Reinforcement Learning with Fisher Divergence Critic Regularization](https://mlsanity.com/paper/2103.08050/) (2021)
- [A Survey on Offline Reinforcement Learning: Taxonomy, Review, and Open Problems](https://mlsanity.com/paper/2203.01387/) (2022)
- [A Review of Safe Reinforcement Learning: Methods, Theory and Applications](https://mlsanity.com/paper/2205.10330/) (2022)
- [Convergence for score-based generative modeling with polynomial complexity](https://mlsanity.com/paper/2206.06227/) (2022)
- [AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners](https://mlsanity.com/paper/2302.01877/) (2023)
- [OptiDICE: Offline Policy Optimization via Stationary Distribution Correction Estimation](https://mlsanity.com/paper/2106.10783/) (2021)
- [Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning](https://mlsanity.com/paper/2305.18459/) (2023)
- [Synthetic Experience Replay](https://mlsanity.com/paper/2303.06614/) (2023)

## Built on by (most cited first, 10 of 10)

- [Latent Safety-Constrained Policy Approach for Safe Offline Reinforcement Learning](https://mlsanity.com/paper/2412.08794/) (2024)
- [Model-Based Policy Adaptation for Closed-Loop End-to-End Autonomous Driving](https://mlsanity.com/paper/2511.21584/) (2025)
- [Tailored Primitive Initialization is the Secret Key to Reinforcement Learning](https://mlsanity.com/paper/2511.12429/) (2025)
- [FAWAC: Feasibility Informed Advantage Weighted Regression for Persistent Safety in Offline Reinforcement Learning](https://mlsanity.com/paper/2412.08880/) (2024)
- [Boundary-to-Region Supervision for Offline Safe Reinforcement Learning](https://mlsanity.com/paper/2509.25727/) (2025)
- [Online Optimization for Offline Safe Reinforcement Learning](https://mlsanity.com/paper/2510.22027/) (2025)
- [Don't Trade Off Safety: Diffusion Regularization for Constrained Offline RL](https://mlsanity.com/paper/2502.12391/) (2025)
- [GAS: Enhancing Reward-Cost Balance of Generative Model-assisted Offline Safe RL](https://mlsanity.com/paper/2602.05323/) (2026)
- [Conditional Sequence Modeling for Safe Reinforcement Learning](https://mlsanity.com/paper/2602.08584/) (2026)
- [Q-learning Penalized Transformer for Safe Offline Reinforcement Learning](https://mlsanity.com/paper/2609.34426/) (2026)

## Abstract (arXiv)

Offline safe reinforcement learning (RL) aims to train a policy that satisfies constraints using a pre-collected dataset. Most current methods struggle with the mismatch between imperfect demonstrations and the desired safe and rewarding performance. In this paper, we introduce OASIS (cOnditionAl diStributIon Shaping), a new paradigm in offline safe RL designed to overcome these critical limitations. OASIS utilizes a conditional diffusion model to synthesize offline datasets, thus shaping the data distribution toward a beneficial target domain. Our approach makes compliance with safety constraints through effective data utilization and regularization techniques to benefit offline safe RL training. Comprehensive evaluations on public benchmarks and varying datasets showcase OASIS's superiority in benefiting offline safe RL agents to achieve high-reward behavior while satisfying the safety constraints, outperforming established baselines. Furthermore, OASIS exhibits high data efficiency and robustness, making it suitable for real-world applications, particularly in tasks where safety is imperative and high-quality demonstrations are scarce.