Robotics paper index

Retriever-Free Retrieval: Navigating Documents with Decision Models

2026-10-26 · arXiv: 2610.35868

One-line summary

A robotics research paper on Retriever-Free Retrieval: Navigating Documents with Decision Models.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

While language models have become dramatically more capable, retrieval still largely relies on lexical matching or similarity in fixed embedding spaces. This creates a capability asymmetry: what the retriever fails to find, even the strongest generator cannot recover. We propose DecisionRAG, which brings the capabilities of pretrained language models to retrieval using decision models that jointly evaluate candidate branches in a single forward pass, without generating any tokens, and show that judging candidates in a shared context makes their relevance estimates comparable. Like a person browsing a library, DecisionRAG navigates the corpus's inherent structure from broad topics down to individual passages, deciding at each level which branches are worth exploring. Without task-specific training or a first-stage retriever, DecisionRAG outperforms dense retrieval with an 8B reranker by 13.8 R@1 points on MultiDoc2Dial and 17.4 Hit@1 points on Natural Questions. Across four benchmarks, including a corpus of 2.68 million Wikipedia paragraphs, retrieval takes just 0.7-1.8 seconds per query.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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