# ControlNet++: Improving Conditional Controls with Efficient Consistency Feedback

arXiv: https://arxiv.org/abs/2404.07987 · HTML: https://mlsanity.com/paper/2404.07987/

## Key facts

- Cited by 154 papers in the map (data through 14 Oct 2026).
- Placed in Image generation, text-to-image and editing, one of 14 directions in Diffusion models.
- Builds on 63 of its 69 references that are in the map.
- First posted on arXiv 11 Apr 2024.

## Placed in

- Diffusion models / [Image generation, text-to-image and editing](https://mlsanity.com/diffusion/image-generation-text-to-image-and-editing/)
- LLM alignment / RLHF / preference optimisation / [Diffusion and multimodal model alignment](https://mlsanity.com/alignment/diffusion-and-multimodal-model-alignment/)

## Builds on (most cited first, 30 of 63)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Photorealistic Text-to-Image Diffusion Models with Deep Language Understanding](https://mlsanity.com/paper/2205.11487/) (2022)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [LAION-5B: An open large-scale dataset for training next generation image-text models](https://mlsanity.com/paper/2210.08402/) (2022)
- [GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Models](https://mlsanity.com/paper/2112.10741/) (2021)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [Prompt-to-Prompt Image Editing with Cross Attention Control](https://mlsanity.com/paper/2208.01626/) (2022)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [An Image is Worth One Word: Personalizing Text-to-Image Generation using Textual Inversion](https://mlsanity.com/paper/2208.01618/) (2022)

## Built on by (most cited first, 30 of 154)

- [OmniGen: Unified Image Generation](https://mlsanity.com/paper/2409.11340/) (2024)
- [Open-Sora Plan: Open-Source Large Video Generation Model](https://mlsanity.com/paper/2412.00131/) (2024)
- [Seedream 4.0: Toward Next-generation Multimodal Image Generation](https://mlsanity.com/paper/2509.20427/) (2025)
- [TripoSG: High-Fidelity 3D Shape Synthesis using Large-Scale Rectified Flow Models](https://mlsanity.com/paper/2502.06608/) (2025)
- [ControlNeXt: Powerful and Efficient Control for Image and Video Generation](https://mlsanity.com/paper/2408.06070/) (2024)
- [Hyper-SD: Trajectory Segmented Consistency Model for Efficient Image Synthesis](https://mlsanity.com/paper/2404.13686/) (2024)
- [AC3D: Analyzing and Improving 3D Camera Control in Video Diffusion Transformers](https://mlsanity.com/paper/2411.18673/) (2024)
- [EasyControl: Adding Efficient and Flexible Control for Diffusion Transformer](https://mlsanity.com/paper/2503.07027/) (2025)
- [SkyReels-A2: Compose Anything in Video Diffusion Transformers](https://mlsanity.com/paper/2504.02436/) (2025)
- [RewardDance: Reward Scaling in Visual Generation](https://mlsanity.com/paper/2509.08826/) (2025)
- [Ctrl-Adapter: An Efficient and Versatile Framework for Adapting Diverse Controls to Any Diffusion Model](https://mlsanity.com/paper/2404.09967/) (2024)
- [Seedream 2.0: A Native Chinese-English Bilingual Image Generation Foundation Model](https://mlsanity.com/paper/2503.07703/) (2025)
- [OminiControl2: Efficient Conditioning for Diffusion Transformers](https://mlsanity.com/paper/2503.08280/) (2025)
- [ControlAR: Controllable Image Generation with Autoregressive Models](https://mlsanity.com/paper/2410.02705/) (2024)
- [Diffusion Self-Distillation for Zero-Shot Customized Image Generation](https://mlsanity.com/paper/2411.18616/) (2024)
- [ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models](https://mlsanity.com/paper/2506.16211/) (2025)
- [Efficient Diffusion Models: A Comprehensive Survey from Principles to Practices](https://mlsanity.com/paper/2410.11795/) (2024)
- [EditAR: Unified Conditional Generation with Autoregressive Models](https://mlsanity.com/paper/2501.04699/) (2025)
- [3DIS: Depth-Driven Decoupled Instance Synthesis for Text-to-Image Generation](https://mlsanity.com/paper/2410.12669/) (2024)
- [Efficient Diffusion Models: A Survey](https://mlsanity.com/paper/2502.06805/) (2025)
- [PixWizard: Versatile Image-to-Image Visual Assistant with Open-Language Instructions](https://mlsanity.com/paper/2409.15278/) (2024)
- [DreamOmni: Unified Image Generation and Editing](https://mlsanity.com/paper/2412.17098/) (2024)
- [DreamRenderer: Taming Multi-Instance Attribute Control in Large-Scale Text-to-Image Models](https://mlsanity.com/paper/2503.12885/) (2025)
- [Omni-Effects: Unified and Spatially-Controllable Visual Effects Generation](https://mlsanity.com/paper/2508.07981/) (2025)
- [EasyText: Controllable Diffusion Transformer for Multilingual Text Rendering](https://mlsanity.com/paper/2505.24417/) (2025)
- [OneReward: Unified Mask-Guided Image Generation via Multi-Task Human Preference Learning](https://mlsanity.com/paper/2508.21066/) (2025)
- [Uni-MoE-2.0-Omni: Scaling Language-Centric Omnimodal Large Model with Advanced MoE, Training and Data](https://mlsanity.com/paper/2511.12609/) (2025)
- [BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks](https://mlsanity.com/paper/2602.03793/) (2026)
- [IPAdapter-Instruct: Resolving Ambiguity in Image-based Conditioning using Instruct Prompts](https://mlsanity.com/paper/2408.03209/) (2024)
- [SuperEdit: Rectifying and Facilitating Supervision for Instruction-Based Image Editing](https://mlsanity.com/paper/2505.02370/) (2025)

## Abstract (arXiv)

To enhance the controllability of text-to-image diffusion models, existing efforts like ControlNet incorporated image-based conditional controls. In this paper, we reveal that existing methods still face significant challenges in generating images that align with the image conditional controls. To this end, we propose ControlNet++, a novel approach that improves controllable generation by explicitly optimizing pixel-level cycle consistency between generated images and conditional controls. Specifically, for an input conditional control, we use a pre-trained discriminative reward model to extract the corresponding condition of the generated images, and then optimize the consistency loss between the input conditional control and extracted condition. A straightforward implementation would be generating images from random noises and then calculating the consistency loss, but such an approach requires storing gradients for multiple sampling timesteps, leading to considerable time and memory costs. To address this, we introduce an efficient reward strategy that deliberately disturbs the input images by adding noise, and then uses the single-step denoised images for reward fine-tuning. This avoids the extensive costs associated with image sampling, allowing for more efficient reward fine-tuning. Extensive experiments show that ControlNet++ significantly improves controllability under various conditional controls. For example, it achieves improvements over ControlNet by 11.1% mIoU, 13.4% SSIM, and 7.6% RMSE, respectively, for segmentation mask, line-art edge, and depth conditions. All the code, models, demo and organized data have been open sourced on our Github Repo.