generate() always starts with bos_token_id
## Environment info
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- `transformers` version: 3.4.0
- Platform: Ubuntu 16.04
- Python version: 3.7
- PyTorch version (GPU?): 1.6 GPU
- Tensorflow version (GPU?): Doesn't matter
- Using GPU in script?: Doesn't matter
- Using distributed or parallel set-up in script?: Doesn't matter

### Who can help
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 Summarization: @sshleifer
 TextGeneration: @TevenLeScao 
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-  TextGeneration: @TevenLeScao 
-  T5: @patrickvonplaten

## Information

Model I am using (Bert, XLNet ...): T5

The problem arises when using:
* the official example scripts: [T5ForConditionalGeneration Doc](https://huggingface.co/transformers/model_doc/t5.html?highlight=t5#transformers.T5ForConditionalGeneration)

## To reproduce

Steps to reproduce the behavior:

```python3
from transformers import T5Tokenizer, T5ForConditionalGeneration
tokenizer = T5Tokenizer.from_pretrained('t5-small')
model = T5ForConditionalGeneration.from_pretrained('t5-small', return_dict=True)
input_ids = tokenizer('The <extra_id_0> walks in <extra_id_1> park', return_tensors='pt').input_ids
labels = tokenizer('<extra_id_0> cute dog <extra_id_1> the <extra_id_2>', return_tensors='pt').input_ids
outputs = model(input_ids=input_ids, labels=labels)

model.generate(input_ids)[0]
>>> tensor([    0, 32099,  2447,   704, 32098,     8, 32097,  2447,     5,     1]) 
# <- start with 0 = pad_token_id = decoder_start_token_id of T5 


input_ids = tokenizer("summarize: studies have shown that owning a dog is good for you ", return_tensors="pt").input_ids  # Batch size 1
outputs = model.generate(input_ids)
outputs
>>> tensor([[   0, 2116,   43, 2008,   24,  293,   53,    3,    9, 1782,   19,  207,
           21,   25,    3,    5,    1]])
# <- start with 0 = pad_token_id = decoder_start_token_id of T5 
```


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## Expected behavior

Generation outputs should not start with 0 (= pad_token_id = decoder_start_token_id of T5)
```python3
>>> tensor([ 32099,  2447,   704, 32098,     8, 32097,  2447,     5,     1]) 
>>> tensor([[ 2116,   43, 2008,   24,  293,   53,    3,    9, 1782,   19,  207,
           21,   25,    3,    5,    1]])
```

<!-- A clear and concise description of what you would expect to happen. -->

## Analysis / Suggestion
This happens because the `input_ids` are initialized with [bos_token_id](https://github.com/huggingface/transformers/blob/v3.4.0/src/transformers/generation_utils.py#L329) or [decoder_start_token_id](https://github.com/huggingface/transformers/blob/v3.4.0/src/transformers/generation_utils.py#L432) then iteratively updated during `.generate()`
But should `.generate()` return the first token? It is confusing and makes it hard to debug since `tokenizer.decode()` hides this behavior.
It would be better to exclude the first token and just return `output [:, 1:]` in [the last line of generate()](https://github.com/huggingface/transformers/blob/v3.4.0/src/transformers/generation_utils.py#L512).
Hey @j-min, I don't think we will change this behavior because a) huge backward breaking change b) I think it's important to understand that generate **has** to start with a BOS/decoder_start_token_id (see Encoder-Decoder blog post: https://huggingface.co/blog/encoder-decoder)

Also you could add `skip_special_tokens=True` to the decode method to not return this token