Sync private main updates into public main#122
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lfengad
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July 21, 2026 06:40
…follow-up) Vision SFT trains no action tokens, so the recipe should not build the action head — the same recipe-scoped override PR #18 applied to Edge. NANO_MODEL_CONFIG keeps action_gen=True (the released checkpoint ships real DROID-trained action weights and the action-policy recipes rely on it); vision_sft_nano deepcopies it into _NANO_VISION_MODEL_CONFIG with action_gen=False, and vision_sft_nano_mapstyle_dataloader inherits via its existing deepcopy of the composed recipe. Accepted behavior change: vision-SFT'd Nano checkpoints and their HF/diffusers exports no longer carry the pretrained action heads (previously frozen pass-throughs, outside optimizer.keys_to_select). Start from the base checkpoint or the action-policy recipes if you need them. Loss is unchanged: the graph-consistency dummy forward contributed 0.0 * finite = 0. nano_training_smoke_test.py's diffusers golden comparison now ignores the action-only action_* tensors (action_proj_in/action_proj_out/ action_modality_embed) the export no longer contains, via the same prefix filter already used for the sound-only audio_* tensors. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Sync the latest
nvidia-cosmos/cosmos-framework-private:mainchanges into publicmain.Conflict resolution:
action_gen=Falsechanges and matching smoke-test expectations.Validation:
ruff checkpassed for all changed files.git diff --checkpassed.uvvalidation was not run because the shared uv distribution cache returned a permission error while readingantlr4-python3-runtime==4.9.3.Because
mainis protected and disallows merge commits, merge this PR using the repository-approved squash/rebase path after all required checks pass.