We consider a class of inverse problems characterized by forward operators that are partially specified, non-smooth, and non-differentiable. Although generative inverse solvers have made significant progress, we find that these forward operators introduce a distinct set of challenges. As a concrete instance, we consider the problem of reconstructing spatial layouts, such as floorplans, from human movement trajectories, where the underlying path-generation process is inherently non-differentiable and only partially known. In such problems, direct likelihood-based guidance becomes unstable, since the underlying path-planning process does not provide reliable gradients. We break-away from existing diffusion-based posterior samplers and reformulate likelihood-based guidance in a smoother embedding space. This embedding space is learned using a contrastive objective to bring compatible trajectory-floorplan pairs close together while pushing mismatched pairs apart. We show that this surrogate likelihood score in the embedding space provides a valid approximation to the true likelihood score, making it possible to steer the denoising process towards the posterior. Across extensive experiments, our model CoGuide produces more consistent reconstructions and is more robust than existing inverse-solvers and guided diffusion. Beyond spatial mapping, we show that our method can be applied more broadly, suggesting a route toward solving generalized blind inverse problems using diffusion models.