{"id":"https://openalex.org/W7133506634","doi":"https://doi.org/10.48550/arxiv.2603.02688","title":"Retrieval-Augmented Robots via Retrieve-Reason-Act","display_name":"Retrieval-Augmented Robots via Retrieve-Reason-Act","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133506634","doi":"https://doi.org/10.48550/arxiv.2603.02688"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.02688","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02688","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.02688","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128081897","display_name":"Izat Temiraliev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Temiraliev, Izat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037401289","display_name":"Diji Yang","orcid":"https://orcid.org/0009-0005-1591-4846"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Diji","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128126642","display_name":"Yi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5837000012397766,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5837000012397766,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2542000114917755,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.04910000041127205,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6747000217437744},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5857999920845032},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.5396000146865845},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5135999917984009},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4722000062465668},{"id":"https://openalex.org/keywords/documentation","display_name":"Documentation","score":0.4397999942302704},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.3691999912261963},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.35749998688697815}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7540000081062317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6747000217437744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6187999844551086},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5857999920845032},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.5396000146865845},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5135999917984009},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4952000081539154},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4722000062465668},{"id":"https://openalex.org/C56666940","wikidata":"https://www.wikidata.org/wiki/Q788790","display_name":"Documentation","level":2,"score":0.4397999942302704},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C44291984","wikidata":"https://www.wikidata.org/wiki/Q1074173","display_name":"Question answering","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3084000051021576},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2515000104904175},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.02688","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02688","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.02688","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02688","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.5452982783317566,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"To":[0],"achieve":[1],"general-purpose":[2],"utility,":[3],"we":[4,113],"argue":[5],"that":[6,45,128,192],"robots":[7,27],"must":[8],"evolve":[9],"from":[10,106,159,224],"passive":[11],"executors":[12],"into":[13],"active":[14,99],"Information":[15,222],"Retrieval":[16,223],"users.":[17],"In":[18,110],"strictly":[19],"zero-shot":[20,205],"settings":[21],"where":[22],"no":[23],"prior":[24],"demonstrations":[25],"exist,":[26],"face":[28],"a":[29,41,184],"critical":[30],"information":[31,96],"gap,":[32],"such":[33],"as":[34,117,143],"the":[35,94,115,122,125,130,140,148,164,214,219],"exact":[36],"sequence":[37],"required":[38],"to":[39,64,78,92,168,228],"assemble":[40],"complex":[42],"furniture":[43],"kit,":[44],"cannot":[46],"be":[47],"satisfied":[48],"by":[49],"internal":[50,57,80],"parametric":[51],"knowledge":[52,105],"(common":[53],"sense)":[54],"or":[55,82,150,207],"past":[56,74],"memory.":[58],"While":[59],"recent":[60],"robotic":[61,194],"works":[62],"attempt":[63],"use":[65],"search":[66],"before":[67],"action,":[68],"they":[69],"primarily":[70],"focus":[71],"on":[72,183,204],"retrieving":[73],"kinematic":[75],"trajectories":[76],"(analogous":[77],"searching":[79],"memory)":[81],"text-based":[83],"safety":[84],"rules":[85],"(searching":[86],"for":[87],"constraints).":[88],"These":[89],"approaches":[90],"fail":[91],"address":[93],"core":[95],"need":[97],"of":[98,216,221],"task":[100,141],"construction:":[101],"acquiring":[102],"unseen":[103],"procedural":[104,157],"external,":[107],"unstructured":[108,161],"documentation.":[109],"this":[111,181],"paper,":[112],"define":[114],"paradigm":[116,182],"Retrieval-Augmented":[118],"Robotics":[119],"(RAR),":[120],"empowering":[121],"robot":[123,149],"with":[124],"information-seeking":[126],"capability":[127],"bridges":[129],"gap":[131],"between":[132],"visual":[133,156,198],"documentation":[134],"and":[135,175],"physical":[136,170,231],"actuation.":[137],"We":[138,179],"formulate":[139],"execution":[142],"an":[144,160],"iterative":[145],"Retrieve-Reason-Act":[146],"loop:":[147],"embodied":[151,230],"agent":[152],"actively":[153],"retrieves":[154],"relevant":[155],"manuals":[158],"corpus,":[162],"grounds":[163],"abstract":[165],"2D":[166],"diagrams":[167],"3D":[169],"parts":[171],"via":[172],"cross-modal":[173],"alignment,":[174],"synthesizes":[176],"executable":[177],"plans.":[178],"validate":[180],"challenging":[185],"long-horizon":[186],"assembly":[187],"benchmark.":[188],"Our":[189],"experiments":[190],"demonstrate":[191],"grounding":[193],"planning":[195],"in":[196],"retrieved":[197],"documents":[199],"significantly":[200],"outperforms":[201],"baselines":[202],"relying":[203],"reasoning":[206],"few-shot":[208],"example":[209],"retrieval.":[210],"This":[211],"work":[212],"establishes":[213],"basis":[215],"RAR,":[217],"extending":[218],"scope":[220],"answering":[225],"user":[226],"queries":[227],"driving":[229],"actions.":[232]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-05T00:00:00"}