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perf/accuracy: Flash Attention, torch-native SO(3), cosine schedule, DDIM, analytical g(t), acos fix#454

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perf/accuracy: Flash Attention, torch-native SO(3), cosine schedule, DDIM, analytical g(t), acos fix#454
mooreneural wants to merge 3 commits into
RosettaCommons:mainfrom
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rename: benchmark_pr454.py -> benchmark_inference.py

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