Add Cosmos3 action generation support#13823
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dg845
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Thanks for the PR! Left some initial comments :).
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thanks, I left some feedbacks
| resolution (no upscaling), wastes compute on padding, and is a train/inference mismatch that can hurt | ||
| quality. | ||
| raw_action_dim (`int`, *optional*): | ||
| Number of meaningful (unpadded) action channels to keep when slicing predicted actions. Required for |
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is the value fixed for each domain_name?
if not, how should a user configure it?
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We can indeed map raw_action_dim from domain_name for nearly all domains, so I've added that table and dropped the required arg in commit. Two domains depend on dataset config instead, resulting in different raw_action_dim values: e.g. for libero width changes with the rotation representation (axis-angle 3D / 6D / 9D -> 7/10/13 total, will follow up on support for libero and hand_pose.
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