Hugging Face's logo

matCercola18
/
DiffusionControl

diffusion
control
controller-synthesis
Model card Files
xet
 Community
matCercola18 commited on
Commit
3d03e2b
·
verified ·
1 Parent(s): 97a767b

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. README.md +32 -0
  2. models/Best_furuta_cond.pth +3 -0
  3. models/Best_furuta_full_cond.pth +3 -0
  4. models/Best_furuta_traj_cond_e800.pth +3 -0
  5. models/Best_furuta_traj_cond_v1.pth +3 -0
  6. models/Best_furuta_traj_cond_v2.pth +3 -0
  7. models/Best_furuta_traj_cond_v2ctl_e2400.pth +3 -0
  8. models/Best_furuta_traj_cond_v3_e2400.pth +3 -0
  9. models/Best_nonlinear_cond_popov_L2.pth +3 -0
  10. models/Best_nonlinear_cond_popov_L_distill.pth +3 -0
  11. models/Best_pend_cbar.pth +3 -0
  12. models/Best_pendulum_abl_data_p25.pth +3 -0
  13. models/Best_pendulum_abl_data_p50_s44.pth +3 -0
  14. models/Best_pendulum_abl_dl_lz_s43.pth +3 -0
  15. models/Best_pendulum_abl_dl_lzm.pth +3 -0
  16. models/Best_pendulum_abl_dl_lzm_s43.pth +3 -0
  17. models/Best_pendulum_abl_dl_lzres.pth +3 -0
  18. models/Best_pendulum_abl_dl_lzres_s44.pth +3 -0
  19. models/Best_pendulum_abl_dl_phys_s43.pth +3 -0
  20. models/Best_pendulum_abl_ood_hole20.pth +3 -0
  21. models/Best_pendulum_abl_ood_hole20_s43.pth +3 -0
  22. models/Best_pendulum_abl_size_2x.pth +3 -0
  23. models/Best_pendulum_abl_size_2x_s43.pth +3 -0
  24. models/Best_pendulum_abl_size_2x_s44.pth +3 -0
  25. models/Best_pendulum_abl_size_ref_s44.pth +3 -0
  26. models/Best_pendulum_abl_steps_p25_e3200.pth +3 -0
  27. models/Best_pendulum_abl_steps_ref_e200.pth +3 -0
  28. models/Best_pendulum_abl_steps_ref_e200_s43.pth +3 -0
  29. models/Best_pendulum_multi_A_s102.pth +3 -0
  30. models/Best_pendulum_multi_B_s201.pth +3 -0
  31. models/Best_pendulum_multi_B_s202.pth +3 -0
  32. models/Best_pendulum_multi_sw_w256_d0.1_s20k.pth +3 -0
  33. models/Best_pendulum_pg_A_lz_s2.pth +3 -0
  34. models/Best_pendulum_pg_A_phys_s1.pth +3 -0
  35. models/Best_pendulum_pg_A_phys_s3.pth +3 -0
  36. models/Best_pendulum_pg_B_lz_s2.pth +3 -0
  37. models/Best_siso_pg_c1.pth +3 -0
  38. models/cert_perfspan_L.pth +3 -0
  39. models/v4/mlp_192k_s192000.pth +3 -0
  40. models/v4/mlp_384k_s384000.pth +3 -0
  41. models/v4/mlp_a_s96000.pth +3 -0
  42. models/v4/mlp_xd_s80000.pth +3 -0
  43. models/v4/reg_a_seed0_s96000.pth +3 -0
  44. models/v4/reg_a_seed2_s96000.pth +3 -0
  45. models/v4/reg_mcd_seed2_s96000.pth +3 -0
  46. models/v4/unet_a_s96000.pth +3 -0
  47. models/v4/unet_a_seed2_s96000.pth +3 -0
  48. models/v4/unet_s_s40000.pth +3 -0
  49. models/v4/unet_sxd_s40000.pth +3 -0
  50. models/witsenhausen_cond.pth +3 -0
README.md ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: other
3
+ tags:
4
+ - diffusion
5
+ - control
6
+ - controller-synthesis
7
+ ---
8
+
9
+ # DiffusionControl checkpoints
10
+
11
+ Trained models for the DiffusionControl project (conditional diffusion models that generate
12
+ certified feedback controllers). Code, protocols and results live in the GitHub repo
13
+ `matCercola18/matte_server` under `DiffusionControl/`, branch `icml-experiments`; each family has
14
+ a research doc in `DiffusionControl/docs/`.
15
+
16
+ Files keep their repo paths (`models/...`), so code that loads `models/<name>.pth` works after
17
+ `huggingface_hub.snapshot_download`. Only final checkpoints are included (no `Last_*`, no
18
+ intermediate step checkpoints).
19
+
20
+ | family | files | doc |
21
+ |---|---|---|
22
+ | 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` |
23
+ | Furuta regression twins and MLP ablations | `models/v4/reg_*`, `models/v4/mlp_*` | same |
24
+ | Furuta earlier trajectory models (v1-v3, clip-bug fix) | `Best_furuta_traj_cond_*` | `furuta_generated_trajectory*.md` |
25
+ | Furuta energy-shaping models (superseded) | `Best_furuta_cond`, `_full_cond`, `_handoff_cond` | `diffusion_complete_nonlinear_controller.md` |
26
+ | 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` |
27
+ | SISO Lur'e | `Best_nonlinear_cond_popov_*`, `siso_pg_c*`, `costcond_siso`, `cert_perfspan_L`, `regressor_siso` | RESULTS.md, `physics_informed_generation.md` |
28
+ | MIMO 2x2 | `Best_mimo_cond_2x2*` | RESULTS.md |
29
+ | CVAE baselines | `Best_cvae_*` | `ablations.md` |
30
+ | Witsenhausen | `*witsenhausen_cond*` | `witsenhausen.md` |
31
+
32
+ Note: `Best_nonlinear_cond_popov_L_sector/_closedloop/_distill` are documented negative results.
models/Best_furuta_cond.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4cad7aa65dffa08a8d665b23137c54689bafeaf8b14e53cb479b209c207295ee
3
+ size 61198628
models/Best_furuta_full_cond.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42b6db986509fd08d8ef4f8a3b621eeb8ccaee7822bcd7eb4226acd0384cc425
3
+ size 61224895
models/Best_furuta_traj_cond_e800.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2e3b77b2052404fcaff4b3cd36203be00298086aebf15c22bdb6b8fdf915850
3
+ size 62157823
models/Best_furuta_traj_cond_v1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91a91d551178ddb6a6b58c11b063ef2c98a2c8724e05d032e6704fe3032d5dd2
3
+ size 62157823
models/Best_furuta_traj_cond_v2.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3b99bb02cfb47a8de2c6d2e9a32d9732cb78bd0ac3c5d9937405327d1da52ba
3
+ size 62158748
models/Best_furuta_traj_cond_v2ctl_e2400.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f75f3dc4a34ba4ca9b6fd3b32db071cebae7a3626c3a0ea200651dab3f066f1
3
+ size 62161395
models/Best_furuta_traj_cond_v3_e2400.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eeb07386a443c6f7bac0cadfedec571504198ab82d0d0ae4099bfd52b8f7892a
3
+ size 62160086
models/Best_nonlinear_cond_popov_L2.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb50362faf9b6e17d22aa310e49d6dc994381a67ce818c074da07e0eb2f67f25
3
+ size 343255942
models/Best_nonlinear_cond_popov_L_distill.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:757936f77ef5204cc9b7ae40ec6a0ebf4f367a04f5acb19218d380fed9080d30
3
+ size 343259029
models/Best_pend_cbar.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:29da3b98bc0cbe8f5aff4be1ad2057c48f3224710f986455e93c61626eaa7034
3
+ size 61290662
models/Best_pendulum_abl_data_p25.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bec0c2d893989c33170071cc180153ac54ec3bea3047be08d98c4c239823f054
3
+ size 61274842
models/Best_pendulum_abl_data_p50_s44.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8eee83a16c158670007505d06707f724f34ce94cf892d00b914515fd4b944e84
3
+ size 61276118
models/Best_pendulum_abl_dl_lz_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c175ae2a13d3c128c7de516dee1c81ec28b19dacbbabe7998660302d0bbd13ad
3
+ size 61258873
models/Best_pendulum_abl_dl_lzm.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d037a40cded9fc77bbcc77d99bba28686421abbecb57a0704c93e831d74dbee9
3
+ size 61274140
models/Best_pendulum_abl_dl_lzm_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c883838b3938aeb4d1da7ab54f5732fff458ffb99d759b8ef8006087aed18a44
3
+ size 61275544
models/Best_pendulum_abl_dl_lzres.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb0bce7ed41b4e68f5b6f8576f74ee06d0f7ccb3450f38847a8d58ed59411e0b
3
+ size 61258970
models/Best_pendulum_abl_dl_lzres_s44.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc86badc26384c758e11eabe3e54aa2908f5f1146a98573e9ff1ae4ec13fdacb
3
+ size 61260182
models/Best_pendulum_abl_dl_phys_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2923c5e405dcf6cb76f3af34ee60d8e225094be7d4fe31fbb95eaffa242c671a
3
+ size 61275831
models/Best_pendulum_abl_ood_hole20.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1f1c04b3e51d77a9af389980a94bf6f4d1da3776901edfae192992ba38121be
3
+ size 61275480
models/Best_pendulum_abl_ood_hole20_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34b046817ac895c72b4d2d5bb67b434be0e276fb0e0ea05196da0c2f2b363867
3
+ size 61276692
models/Best_pendulum_abl_size_2x.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de3a874913a48333bd3e6d13785a5b8847d6af6e30cc6dd1bfa0849f7a970402
3
+ size 241993979
models/Best_pendulum_abl_size_2x_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8d8c74148916f2ebc64b35ebaf1560dec71ebc51bb459aef21e338e6b1d64aa
3
+ size 241995447
models/Best_pendulum_abl_size_2x_s44.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3f5b96a9b95c886ddf57743c8d1e85ffedf8398d31a28da47b6eb81c61897603
3
+ size 241995447
models/Best_pendulum_abl_size_ref_s44.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ee16501b5a4f0ea3b64c0dcf6d9e4a8c95535af1eabb251f393762d30166fb9
3
+ size 61276118
models/Best_pendulum_abl_steps_p25_e3200.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:488098208ba1f8d53dd62b65cabd248a8cb21887e9896943a861dd66ace6fcfa
3
+ size 61276979
models/Best_pendulum_abl_steps_ref_e200.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96bfedb240fe181c40bca4faf27ed9507a19be07ad7741a60b3e2ea745785046
3
+ size 61276692
models/Best_pendulum_abl_steps_ref_e200_s43.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9e02dc4e0e4df8fd3cd12fa1f0e0f896f378dd459c8c292ca83ef52760db20a2
3
+ size 61277840
models/Best_pendulum_multi_A_s102.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9ed28d588da0590b87e6d50ee515e581e6d32a14dcf8b4f2aac0fd043d58256
3
+ size 30633185
models/Best_pendulum_multi_B_s201.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:efdb156e8da35371b8376f9b3336ad49c3c40f2c3813c3384d4bdf361b4b7c1a
3
+ size 30633761
models/Best_pendulum_multi_B_s202.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c9e9d35f68e5f2f1bf0dbf44cfe0a7aee255265cdf631c974723486f289ae13
3
+ size 30633825
models/Best_pendulum_multi_sw_w256_d0.1_s20k.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:598b7037977d80a84a15f655109f59cf82fadd451e3a154798f2f269b062f1c5
3
+ size 30636339
models/Best_pendulum_pg_A_lz_s2.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7981bedce9e8ba7ac1975a7dccad613d0f1bb99e0284015b314b7f82b5c8969
3
+ size 15312665
models/Best_pendulum_pg_A_phys_s1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55fb3931f59cf2d3cbf6a81d17809d41ecb8f9af125caa972be5d135764b35ca
3
+ size 15316949
models/Best_pendulum_pg_A_phys_s3.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1fc7cc415e10bd8e8156adc7a60d4d8f9a3f9cc488aca836b976096c43865c75
3
+ size 15316885
models/Best_pendulum_pg_B_lz_s2.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e184ddf236fafadd72884a2ede24bb546ec774981b2077710a58ca9c734b8cb5
3
+ size 15312729
models/Best_siso_pg_c1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6529351ac3d8caa2b404a4c9399760c53e1c88c31779e478d3d5cbd01c7e051c
3
+ size 343247393
models/cert_perfspan_L.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2cef830e6e386abc644729983756fbf9ec3658f343ca37ecb8c9c89eff5a6ddf
3
+ size 85810693
models/v4/mlp_192k_s192000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86a40581cbacb3c2aa2e9ede3b599a50f7595f0038c05b6be078fa974b3a0250
3
+ size 46609485
models/v4/mlp_384k_s384000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:325d234d6102396e2b618577f284f5c8ba6744c8bdce0acd0432b8d7fcd40a9c
3
+ size 46609485
models/v4/mlp_a_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db4773923c1408733a0f7821d5c8bc2664942fa47be36eec18711d97b988cccc
3
+ size 46608789
models/v4/mlp_xd_s80000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:64e094c17a054337654a19418e821f7f7b9ca9dd28e2d69b1a904a22a27ddc62
3
+ size 46606595
models/v4/reg_a_seed0_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4dacfc0f5a513a3239b8c427a722180ebfd06e1c8d706d33975855a3baacbb46
3
+ size 45080714
models/v4/reg_a_seed2_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27d99f9df592af524c8e0c932ab2f465013768a26795a7599280650faa95910c
3
+ size 45080714
models/v4/reg_mcd_seed2_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eae2709b8e76d41a16325f016f0b2eef31354821e5c7bcbc2aef2465c3504bc3
3
+ size 45081368
models/v4/unet_a_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12518698df90b283d976fce4a386f7d69de4cc61a4b5d3bbf7f7d4a47ff616d6
3
+ size 45079015
models/v4/unet_a_seed2_s96000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d4789a8dad93980e2c3f00bf630e9fdc4b0188e2374006edf860217c012f39c
3
+ size 45080977
models/v4/unet_s_s40000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2cb32f5238e3432d66df91c6a3fc35e36adc80561923ef83316a1168e067752
3
+ size 14529831
models/v4/unet_sxd_s40000.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d250a7b88abd4e88fb01dc9d02116919713bd5c23895001012095f6a2eeff7a1
3
+ size 14530485
models/witsenhausen_cond.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:810d18a589fa1ada76ea3e1659600072d4d79d8b16d03905303d3609ec91eb31
3
+ size 13434520