DiffusionControl checkpoints

Trained models for the DiffusionControl project (conditional diffusion models that generate certified feedback controllers). Code, protocols and results live in the GitHub repo matCercola18/matte_server under DiffusionControl/, branch icml-experiments; each family has a research doc in DiffusionControl/docs/.

Files keep their repo paths (models/...), so code that loads models/<name>.pth works after huggingface_hub.snapshot_download. Only final checkpoints are included (no Last_*, no intermediate step checkpoints).

family	files	doc
Furuta (QUBE-Servo 2), headline 1D U-Net generator	models/v4/unet_a*_s96000.pth, unet_s_s40000.pth, unet_sxd_s40000.pth	furuta_generated_trajectory_v4.md
Furuta regression twins and MLP ablations	models/v4/reg_*, models/v4/mlp_*	same
Furuta earlier trajectory models (v1-v3, clip-bug fix)	Best_furuta_traj_cond_*	furuta_generated_trajectory*.md
Furuta energy-shaping models (superseded)	Best_furuta_cond, _full_cond, _handoff_cond	diffusion_complete_nonlinear_controller.md
Pendulum	Best_pendulum_* (multi-solution multi_*, physics-informed pg_*/abl_dl_*, ablations abl_*)	pendulum_multi_solution.md, physics_informed_generation.md, ablations.md, ood_shift.md
SISO Lur'e	Best_nonlinear_cond_popov_*, siso_pg_c*, costcond_siso, cert_perfspan_L, regressor_siso	RESULTS.md, physics_informed_generation.md
MIMO 2x2	Best_mimo_cond_2x2*	RESULTS.md
CVAE baselines	Best_cvae_*	ablations.md
Witsenhausen	*witsenhausen_cond*	witsenhausen.md

Note: Best_nonlinear_cond_popov_L_sector/_closedloop/_distill are documented negative results.

Round 2 (2026-10-03): models/round2/, data/round2/

Files here do not keep repo paths; point the loaders at them explicitly.

family	checkpoints	data	doc
Furuta, friction-conditioned (mp, Lp, Dr, Dp, Coulomb Cr, Cp)	round2/furuta_v5/v5_s{0,1,2}_s96000.pth	data/round2/furuta/furuta_nmpc_bank_v5merged.npz, furuta_traj_dataset_v5.pt	furuta_friction_hardware_ready.md
Furuta, voltage-headroom (Vref) conditioned	round2/furuta_f2/f2_s*_s8000.pth	furuta_bank_vref_*.npz, furuta_traj_dataset_f2.pt	furuta_robustness.md
Furuta, unified hardware model (friction + Vref, 7-d)	round2/furuta_f3/f3_s{0,1,2}_s24000.pth	furuta_bank_f3.npz, furuta_traj_dataset_f3.pt	furuta_robustness.md
Unstable coupled MIMO, full-state (mlp_*, asinh_*) and output-feedback BMI (sof*, c3*)	round2/mimo_unstable/ (*_diff_* diffusion, *_reg_* regression twin)	data/round2/mimo_unstable/	mimo_unstable_family.md
Output-feedback scaling m=2/3/4, banks 1k/3k/8k	round2/mimo_unstable/d2m{m}n{N}_*	data/round2/mimo_sof_scaling/ (banks, held-out sets, datasets, evaluated candidates)	mimo_unstable_family.md §D2
Output-feedback scaling m=2..5, final full recipe (96k x 64, 3 seeds), banks 8k (+16k for m=4)	round2/mimo_sof_scaling_full/d3f{m}{n}_{diff,reg}_s*_s96000.pth	data/round2/mimo_sof_scaling/ (d3f_m*.json results)	mimo_unstable_family.md §D3
Furuta online re-synthesis on the unified F3 model (episode logs)	—	data/round2/furuta_resynth_b2/	furuta_online_resynthesis.md §B2