# MoK-RAG: Mixture of Knowledge Paths Enhanced Retrieval-Augmented Generation for Embodied AI Environments

arXiv: https://arxiv.org/abs/2503.13882 · HTML: https://mlsanity.com/paper/2503.13882/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Agentic RAG, agents and memory, one of 15 directions in Retrieval-augmented generation.
- Builds on 23 of its 31 references that are in the map.
- First posted on arXiv 18 Mar 2025.

## Placed in

- Retrieval-augmented generation / [Agentic RAG, agents and memory](https://mlsanity.com/rag/agentic-rag-agents-and-memory/)

## Builds on (most cited first, 23 of 23)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [Holodeck: Language Guided Generation of 3D Embodied AI Environments](https://mlsanity.com/paper/2312.09067/) (2023)
- [ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation](https://mlsanity.com/paper/2007.04954/) (2020)
- [RoboTHOR: An Open Simulation-to-Real Embodied AI Platform](https://mlsanity.com/paper/2004.06799/) (2020)
- [Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigation](https://mlsanity.com/paper/2306.11290/) (2023)
- [GPT-4V(ision) is a Human-Aligned Evaluator for Text-to-3D Generation](https://mlsanity.com/paper/2401.04092/) (2024)
- [LongRAG: Enhancing Retrieval-Augmented Generation with Long-context LLMs](https://mlsanity.com/paper/2406.15319/) (2024)
- [Enhancing Noise Robustness of Retrieval-Augmented Language Models with Adaptive Adversarial Training](https://mlsanity.com/paper/2405.20978/) (2024)
- [M-RAG: Reinforcing Large Language Model Performance through Retrieval-Augmented Generation with Multiple Partitions](https://mlsanity.com/paper/2405.16420/) (2024)
- [Grounding Language Model with Chunking-Free In-Context Retrieval](https://mlsanity.com/paper/2402.09760/) (2024)
- [Phone2Proc: Bringing Robust Robots Into Our Chaotic World](https://mlsanity.com/paper/2212.04819/) (2022)
- [RAG-RLRC-LaySum at BioLaySumm: Integrating Retrieval-Augmented Generation and Readability Control for Layman Summarization of Biomedical Texts](https://mlsanity.com/paper/2405.13179/) (2024)
- [ATM: Adversarial Tuning Multi-agent System Makes a Robust Retrieval-Augmented Generator](https://mlsanity.com/paper/2405.18111/) (2024)
- [Diversify Question Generation with Retrieval-Augmented Style Transfer](https://mlsanity.com/paper/2310.14503/) (2023)
- [REVERSUM: A Multi-staged Retrieval-Augmented Generation Method to Enhance Wikipedia Tail Biographies through Personal Narratives](https://mlsanity.com/paper/2502.12137/) (2025)

## Abstract (arXiv)

While human cognition inherently retrieves information from diverse and specialized knowledge sources during decision-making processes, current Retrieval-Augmented Generation (RAG) systems typically operate through single-source knowledge retrieval, leading to a cognitive-algorithmic discrepancy. To bridge this gap, we introduce MoK-RAG, a novel multi-source RAG framework that implements a mixture of knowledge paths enhanced retrieval mechanism through functional partitioning of a large language model (LLM) corpus into distinct sections, enabling retrieval from multiple specialized knowledge paths. Applied to the generation of 3D simulated environments, our proposed MoK-RAG3D enhances this paradigm by partitioning 3D assets into distinct sections and organizing them based on a hierarchical knowledge tree structure. Different from previous methods that only use manual evaluation, we pioneered the introduction of automated evaluation methods for 3D scenes. Both automatic and human evaluations in our experiments demonstrate that MoK-RAG3D can assist Embodied AI agents in generating diverse scenes.