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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
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RosettaCommons:mainfrom
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fix: numerically stable Log_torch near theta=pi; add benchmark script

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