Model-Based Diffusion Sampling for Predictive Control in Offline Decision Making

arXiv:2512.08280v3 Announce Type: replace-cross Abstract: Offline decision-making via diffusion models often produces trajectories that are misaligned with system dynamics, limiting their reliability for control. We propose Model Predictive Diffuser (MPDiffuser), a compositional diffusion framework that combines a diffusion planner with a dynamics diffusion model to generate task-aligned and dynamically plausible trajectories. MPDiffuser interleaves planner and dynamics updates during sampling,