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  1. README.md +12 -0
  2. data/round2/furuta/furuta_traj_dataset_f3.pt +3 -0
  3. data/round2/mimo_sof_scaling/cand_d2m2n1000_diff_s0.npz +3 -0
  4. data/round2/mimo_sof_scaling/cand_d2m2n1000_reg_s1.npz +3 -0
  5. data/round2/mimo_sof_scaling/cand_d2m2n3000_diff_s0.npz +3 -0
  6. data/round2/mimo_sof_scaling/cand_d2m2n3000_diff_s1.npz +3 -0
  7. data/round2/mimo_sof_scaling/cand_d2m2n8000_diff_s0.npz +3 -0
  8. data/round2/mimo_sof_scaling/cand_d2m2n8000_diff_s1.npz +3 -0
  9. data/round2/mimo_sof_scaling/cand_d2m2n8000_reg_s0.npz +3 -0
  10. data/round2/mimo_sof_scaling/cand_d2m2n8000_reg_s1.npz +3 -0
  11. data/round2/mimo_sof_scaling/cand_d2m3n1000_diff_s0.npz +3 -0
  12. data/round2/mimo_sof_scaling/cand_d2m3n1000_diff_s1.npz +3 -0
  13. data/round2/mimo_sof_scaling/cand_d2m3n1000_reg_s1.npz +3 -0
  14. data/round2/mimo_sof_scaling/cand_d2m3n3000_diff_s0.npz +3 -0
  15. data/round2/mimo_sof_scaling/cand_d2m3n8000_reg_s0.npz +3 -0
  16. data/round2/mimo_sof_scaling/cand_d2m3n8000_reg_s1.npz +3 -0
  17. data/round2/mimo_sof_scaling/cand_d2m4n1000_diff_s0.npz +3 -0
  18. data/round2/mimo_sof_scaling/cand_d2m4n1000_diff_s1.npz +3 -0
  19. data/round2/mimo_sof_scaling/cand_d2m4n3000_diff_s0.npz +3 -0
  20. data/round2/mimo_sof_scaling/cand_d2m4n3000_diff_s1.npz +3 -0
  21. data/round2/mimo_sof_scaling/cand_d2m4n3000_reg_s0.npz +3 -0
  22. data/round2/mimo_sof_scaling/cand_d2m4n8000_diff_s0.npz +3 -0
  23. data/round2/mimo_sof_scaling/cand_d2m4n8000_diff_s1.npz +3 -0
  24. data/round2/mimo_sof_scaling/cand_d2m4n8000_reg_s0.npz +3 -0
  25. data/round2/mimo_sof_scaling/ds_m3_n8000.pt +3 -0
  26. data/round2/mimo_sof_scaling/ds_m4_n3000.pt +3 -0
  27. data/round2/mimo_sof_scaling/m2_bank_a.npz +3 -0
  28. data/round2/mimo_sof_scaling/m2_heldout_9001.npz +3 -0
  29. data/round2/mimo_sof_scaling/m3_bank.npz +3 -0
  30. data/round2/mimo_sof_scaling/m3_bank.npz.partial.npz +3 -0
  31. data/round2/mimo_sof_scaling/m3_heldout_4242.npz +3 -0
  32. data/round2/mimo_sof_scaling/m3_heldout_4242.npz.partial.npz +3 -0
  33. data/round2/mimo_sof_scaling/m3_heldout_9001.npz.partial.npz +3 -0
  34. data/round2/mimo_sof_scaling/m3_ood.npz.partial.npz +3 -0
  35. data/round2/mimo_sof_scaling/m4_bank.npz +3 -0
  36. data/round2/mimo_sof_scaling/m4_bank_partial.npz +3 -0
  37. data/round2/mimo_sof_scaling/m4_heldout_4242.npz +3 -0
  38. data/round2/mimo_sof_scaling/m4_heldout_4242.npz.partial.npz +3 -0
  39. data/round2/mimo_sof_scaling/m4_heldout_9001.npz +3 -0
  40. data/round2/mimo_sof_scaling/m4_heldout_9001.npz.partial.npz +3 -0
  41. data/round2/mimo_sof_scaling/m4_ood.npz +3 -0
  42. data/round2/mimo_sof_scaling/m4_ood.npz.partial.npz +3 -0
  43. data/round2/mimo_sof_scaling/m5_bank.npz.partial.npz +3 -0
  44. data/round2/mimo_sof_scaling/m5_heldout_4242.npz +3 -0
  45. data/round2/mimo_sof_scaling/m5_heldout_4242.npz.partial.npz +3 -0
  46. data/round2/mimo_sof_scaling/m5_heldout_9001.npz +3 -0
  47. data/round2/mimo_sof_scaling/m5_heldout_9001.npz.partial.npz +3 -0
  48. data/round2/mimo_sof_scaling/m5_ood.npz +3 -0
  49. data/round2/mimo_sof_scaling/m5_ood.npz.partial.npz +3 -0
  50. data/round2/mimo_unstable/sof/ds_all.pt +3 -0
README.md CHANGED
@@ -30,3 +30,15 @@ intermediate step checkpoints).
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  | Witsenhausen | `*witsenhausen_cond*` | `witsenhausen.md` |
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  Note: `Best_nonlinear_cond_popov_L_sector/_closedloop/_distill` are documented negative results.
 
 
 
 
 
 
 
 
 
 
 
 
 
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  | Witsenhausen | `*witsenhausen_cond*` | `witsenhausen.md` |
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  Note: `Best_nonlinear_cond_popov_L_sector/_closedloop/_distill` are documented negative results.
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+
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+ ## Round 2 (2026-10-03): `models/round2/`, `data/round2/`
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+
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+ Files here do not keep repo paths; point the loaders at them explicitly.
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+
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+ | family | checkpoints | data | doc |
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+ |---|---|---|---|
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+ | 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` |
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+ | Furuta, voltage-headroom (Vref) conditioned | `round2/furuta_f2/f2_s*_s8000.pth` | `furuta_bank_vref_*.npz`, `furuta_traj_dataset_f2.pt` | `furuta_robustness.md` |
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+ | 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` |
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+ | 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` |
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+ | 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 |
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