This is not referring to half awake half asleep sex that stops when you wake up. You are really stretching the definition of rape - why is it you CHOOSE to see your H's behavior in such a negative light, when it should be clear by now that at least some other people can view it in a very different light - it's clearly something that's open to interpretation.
By your own account, your H is a prince of a guy who is remorseful and willing to seek counseling - I bet not one in a hundred men in the same situation would be willing to do that. So why are you in such a rush to end your marriage (which you WILL do if you cut out all sex and move to another room and continue in this bitter anger without reexamining your beliefs). Don't your children deserve that you give it a more honest effort than this - and doesn't he?