---
license: other
tags:
- diffusion
- control
- controller-synthesis
---

# 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| Furuta energy-shaping models (superseded) | `Best_furuta_cond`, `_full_cond`, `_handoff_cond` | `diffusion_complete_nonlinear_controller.md` |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 |