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Marco Pavone

ICRA 2026×6CVPR 2026×3COLM 2026ICLR 2026IROS 2026推理多模态社会与人本安全检索与知识
新星分资深
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0 一作 · 12 篇 · ICRA 2026 / CVPR 2026 / COLM 2026 / ICLR 2026 / IROS 2026

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2026 顶会论文

12
作者位次 #6/7COLM 2026Poster· Poster Session 4· Franciscan B· #84

TGIF: Text-Guided Layer Fusion Mitigates Hallucination in Multimodal LLMs

Chenchen Lin · Sanbao Su · Rachel Luo · Yuxiao Chen · Yan Wang · Marco Pavone · Fei Miao

We propose TGIF, a lightweight (0.03% params) module that mitigates MLLM hallucination by dynamically routing the LLM to specific Vision Transformer layers based on the textual query.

摘要

Multimodal large language models (MLLMs) often generate confident but visually ungrounded responses, a phenomenon known as hallucination. While prior mitigation methods primarily operate at decoding time or rely on additional training, they typically expose the language model to a fixed, late-layer visual representation, overlooking the rich hierarchy encoded by vision transformers. We show that hallucination behavior is strongly influenced by the depth of visual features provided to the LLM, and that no single layer is optimal across queries. To address this, we propose Text-Guided Inter-layer Fusion (TGIF), a lightweight architectural module that dynamically reweights visual features across transformer layers based on the input text, without modifying the vision encoder or increasing the token budget. Experiments on hallucination, OCR, and general VQA benchmarks demonstrate that TGIF substantially improves visual grounding and hallucination robustness while preserving strong overall reasoning performance. Code: https://github.com/Linchenchen/TGIF.

多模态代码推理Multimodal large language modelsMLLM HallucinationOpenReview
作者位次 #3/3ICRA 2026Oral· Robotics & Automation

Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning

Amine Elhafsi · Daniel Morton · Marco Pavone

推理社会与人本理论与学习动力学OpenReview
作者位次 #4/5IROS 2026Poster· Sensing and Predicting Human Motion for Robots

Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds

Shiting Gong · Jianpeng Yao · Jinfeng Wang · Marco Pavone · Jiachen Li

推理安全社会与人本Human-Aware Motion PlanningCollision AvoidanceOpenReview

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