We present the design, implementation, and evaluation of RFusion, a robotic system that can search for and retrieve RFID-tagged items in line-of-sight, non-line-of-sight, and fully-occluded settings. RFusion consists of a robotic arm that has a camera and antenna strapped around its gripper. Our design introduces two key innovations: the first is a method that geometrically fuses RF and visual information to reduce uncertainty about the target object's location, even when the item is fully occluded. The second is …