[sylvesterkaczmarek]

Summary

• clarify that action-vector dimensions are tied to the selected registered embodiment/domain
• explain that changing a trained domain's input width is not a drop-in way to use arbitrary action dimensions
• point readers to the Cosmos Framework action-domain registry and note the dataset-defined forward-dynamics exceptions

Why

Issue #220 asks whether Cosmos3 can accept arbitrary action-space dimensions such as 12D, 16D, or 18D. The current Cosmos Framework validates domain_name against the action-domain registry and validates forward-dynamics action width against the registered raw dimension for ordinary domains. The cookbook currently lists example dimensions but does not state this constraint explicitly.

Validation

Documentation-only change. Cross-checked against the current Cosmos Framework action inference path and EMBODIMENT_TO_RAW_ACTION_DIM registry.

Closes #220

[sylvesterkaczmarek]

Refreshed this docs PR onto current main today. It is now 0 commits behind and mergeable, and the diff remains limited to the intended documentation file. This has been quiet for over two weeks. Could a maintainer please review/merge it, or let me know if any wording change is needed?

[sylvesterkaczmarek]

Could a maintainer review this action-dimension clarification and approve the waiting workflow? Please let me know if the wording needs changing.

[yaoxu-crypto]

Thanks for this, @sylvesterkaczmarek. The Cosmos cookbooks and evaluation suites have moved to NVIDIA/cosmos-framework under .agents/skills/ and were removed from this repo in #384, so this PR can no longer merge here.

This clarification (#220) isn't in Cosmos Framework yet. Could you re-submit it against .agents/skills/cookbooks/cosmos3/generator/action/README.md? The same applies to your #337, #338 and #365.

The relative paths are unchanged, just under .agents/skills/ (for example cookbooks/cosmos3/... is now .agents/skills/cookbooks/cosmos3/...). Please note that Cosmos Framework requires DCO sign-off on each commit (git commit -s, see CONTRIBUTING.md). I'm closing this PR because it can't merge here, but the work is welcome there. Please link this PR from the new one so the earlier discussion and reviews carry over. Thanks for your patience, and sorry it sat here while the move happened.

[sylvesterkaczmarek]

Thanks for the clear guidance, @yaoxu-crypto. I've resubmitted the action-width and AgiBotWorld URDF clarifications together as NVIDIA/cosmos-framework#348, and the raw vLLM video-sampling example as NVIDIA/cosmos-framework#349. Both commits are DCO-signed, and the new PRs link back to #334, #337 and #338. Appreciate your help with the move!