# Retrieval-Augmented Robots via Retrieve-Reason-Act

arXiv: https://arxiv.org/abs/2603.02688 · HTML: https://mlsanity.com/paper/2603.02688/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Agentic RAG, agents and memory, one of 15 directions in Retrieval-augmented generation.
- Builds on 17 of its 24 references that are in the map.
- First posted on arXiv 3 Mar 2026.

## Placed in

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

## Builds on (most cited first, 17 of 17)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Billion-scale similarity search with GPUs](https://mlsanity.com/paper/1702.08734/) (2017)
- [Retrieval-Augmented Generation for Large Language Models: A Survey](https://mlsanity.com/paper/2312.10997/) (2023)
- [MMLU-Pro: A More Robust and Challenging Multi-Task Language Understanding Benchmark](https://mlsanity.com/paper/2406.01574/) (2024)
- [Atlas: Few-shot Learning with Retrieval Augmented Language Models](https://mlsanity.com/paper/2208.03299/) (2022)
- [DeepSeek-V3.2: Pushing the Frontier of Open Large Language Models](https://mlsanity.com/paper/2512.02556/) (2025)
- [In-Context Retrieval-Augmented Language Models](https://mlsanity.com/paper/2302.00083/) (2023)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [VisRAG: Vision-based Retrieval-augmented Generation on Multi-modality Documents](https://mlsanity.com/paper/2410.10594/) (2024)
- [Multi-modal Agent Tuning: Building a VLM-Driven Agent for Efficient Tool Usage](https://mlsanity.com/paper/2412.15606/) (2024)
- [STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning](https://mlsanity.com/paper/2412.15182/) (2024)
- [IM-RAG: Multi-Round Retrieval-Augmented Generation Through Learning Inner Monologues](https://mlsanity.com/paper/2405.13021/) (2024)
- [Retrieval-Augmented Embodied Agents](https://mlsanity.com/paper/2404.11699/) (2024)
- [Embodied AI: From LLMs to World Models](https://mlsanity.com/paper/2509.20021/) (2025)
- [IKEA-Manual: Seeing Shape Assembly Step by Step](https://mlsanity.com/paper/2302.01881/) (2023)
- [Generative Artificial Intelligence in Robotic Manipulation: A Survey](https://mlsanity.com/paper/2503.03464/) (2025)
- [SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models](https://mlsanity.com/paper/2411.11323/) (2024)

## Built on by (most cited first, 2 of 2)

- [Inline Memory Meets Reusable Skills: Memory-centric Framework for Vision-Language-Action Model](https://mlsanity.com/paper/2609.39794/) (2026)
- [Robota-Embed: Unified VLA Embeddings for Robot In-Context Learning and Evolution](https://mlsanity.com/paper/2610.19495/) (2026)

## Abstract (arXiv)

To achieve general-purpose utility, we argue that robots must evolve from passive executors into active Information Retrieval users. In strictly zero-shot settings where no prior demonstrations exist, robots face a critical information gap, such as the exact sequence required to assemble a complex furniture kit, that cannot be satisfied by internal parametric knowledge (common sense) or past internal memory. While recent robotic works attempt to use search before action, they primarily focus on retrieving past kinematic trajectories (analogous to searching internal memory) or text-based safety rules (searching for constraints). These approaches fail to address the core information need of active task construction: acquiring unseen procedural knowledge from external, unstructured documentation. In this paper, we define the paradigm as Retrieval-Augmented Robotics (RAR), empowering the robot with the information-seeking capability that bridges the gap between visual documentation and physical actuation. We formulate the task execution as an iterative Retrieve-Reason-Act loop: the robot or embodied agent actively retrieves relevant visual procedural manuals from an unstructured corpus, grounds the abstract 2D diagrams to 3D physical parts via cross-modal alignment, and synthesizes executable plans. We validate this paradigm on a challenging long-horizon assembly benchmark. Our experiments demonstrate that grounding robotic planning in retrieved visual documents significantly outperforms baselines relying on zero-shot reasoning or few-shot example retrieval. This work establishes the basis of RAR, extending the scope of Information Retrieval from answering user queries to driving embodied physical actions.