#1: I would NOT stay for the children. You don't want to teach your children that marriage is the pitts. You want them to have the benefit of both parents, and you want to teach them that marriage is a big decision, and a real commitment, but that doesn't mean sucking it up and being abused for the rest of your life. You also want them to grow up respecting you, and not to look at you when they are teens and say, "Mom, did you love yourself so little that you put up with that? Why ?"
That said, I was married for 5 years, divorced my kids' father, and 5 years later married again, had 2 more kids and have been married for 20 years.
The biggest problem with marriage is that we seem to come to the table when we have used up all our reserves trying to make it work. So instead of getting help when we have the energy to work on it, we look for help when we're all dried up and don't see how to fix it. That can make divorce feel like the only option.
But remember that divorce is not a pretty option for anyone. It HURTS. In a divorce, everyone's heart breaks, everone's life needs to get rebuilt, and it is MUCH harder to earn enough $$ to run two separate households, it is harder to make difficult decisions without each other to bounce them off, etc. Being a single parent is better than being abused, but it isn't an easy road. So know that you are choosing between two very difficult paths, not between a hard one (staying together) and an easy one (living without him). They are different, but they are both stressful.
I would not make the decision on whether or not you are in love with your husband. I have gone thru many periods when I did not feel "in love" with my spouse, but he is a good man, and I wouldn't leave him based on that. There are times when we are incredibly inseparable, and there are times when we are rather distant. It's just part of life and marriage.
What you need to do is work with the marriage counselor to draw boundary lines between you. Lines of respect, and be sure that you both stick to them. You need to BOTH learn new patterns of behavior, ones that will help you to communicate on an equal basis, and ones that will help you to work on issues as problems to be solved rather than reasons to blame each other. Changing your relational patterns takes work, it won't be easy, and you will slide back into old patterns from time to time, and need to remind each other to listen more attentively, and learn to understand each other better.
Each of us come to marriage with good and bad traits. You have some bad ones, he has some bad ones. Prior to marriage we tend to look only at the good ones, and overlook the bad ones. In marriage, we can't do that, and sometimes we build some bad patterns of relating. The patterns are bad, not necessarily the people.
Let me tell you something else: I still love my ex-husbnd. Would I marry him ? no. Do I have any contact with them? no. But there is always a place, small as it is, where in my heart I love him. I love my current husband. I could never ask for a better man, or a better spouse, and father. I could never ask for a safer homelife than I have now. Once in a while we slide into poorer communicational patterns, depending on stress-loads, but for the long haul, I couldn't EVER have chosen better. Best of all he loves me, and he loves me even when I am unloveable.
I vote for the counseling and the attempt to repair a relationship. It's a lonely world out there and a hard world, and if you can repair the friendship first, respect each other and work together as equals in everything, find ways to break the bad patterns, so you are free to respect each other for the good stuff again -- you may find that you do love him. Love isn't a feeling, it isn't the emotional high we get when we're dating and our hearts flutter just looking at the guy. Love is a commitment, love is believing the best of him, and love is an action -- doing things to make your marriage better, it is generous and kind, hopefilled and gentle. It is always a work in progress, and ALWAYS there are stumbling blocks. But every once in a while, you stand together, hand in hand, and heart in heart, and you look back, and say, "WOW ! Look how far we've come together." It's like climbing mountains. You only stand on the top enjoying the view periodically -- but those moments when you do make the arduous climbs so worth it that you keep climbing mountains, over and over again.
If you don't try, you'll never know what you could have overcome. If you give it your best shot, with whatever resources you have at your disposal, meagher though they may be, then, even if you fail, you will have known that you tried your best. And in the process of trying, you will have learned a whole lot about yourself, and you will have grown into a better person than you are now.
I wish you the best. Life is not an easy road we walk down gleefully . . . it's a series of challenges we have to meet and deal with, one way or another. Give it your best shot, if you still have any shots left, and if you do, in the end, decide to leave, leave for the right reasons. It will make a world of difference as you rebuild your life either within marriage or as a single mom.