Have you tried applying knowledge distillation to impact HALO ? so that it speed up the performance of Mixture-of-Transformers (MoT) architecture while allowing seamless cross-expert collaboration?
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HALO, a unified VLA model that enables embodied multimodal chain-of-thought (EM-CoT) reasoning through a sequential process of textual task reasoning, visual subgoal prediction for fine-grained guidance, and EM-CoT-augmented action prediction. We instantiate HALO with a Mixture-of-Transformers (MoT) architecture that decouples semantic reasoning, visual foresight, and action prediction into specialized experts while allowing seamless cross-expert collaboration.
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