| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn around and walk to the bathtub.
STEP 2: Pick up a sponge from the bathtub. STEP 3: Turn around and walk to the sink on your right. STEP 4: Clean the sponge in the sink, then pick it up again. STEP 5: Turn around and walk back to the bathtub. STEP 6: Place the sponge in the bathtub. END |
Turn around and walk to the countertop.,
Take the dish sponge from the countertop., Turn around and walk to the sink., Clean the sponge in the sink., Turn around and walk to the bathtub., Place the cleaned sponge in the bathtub. |
Turn around and walk to the sink at position (id 23).,
Take the sponge from position (id 5)., Turn to face the faucet at position (id 34)., Rinse the sponge under the faucet., Turn around and walk to the soap bottle at position (id 7)., Apply soap to the sponge., Return to the sink and rinse the sponge under the faucet again., Turn around and walk to the bathtub at position (id 33)., Place the cleaned sponge in the bathtub. |
1. Walk to the sponge located on the left side of the vanity.
2. Pick up the sponge. 3. Turn to face the bathtub. 4. Walk to the bathtub located on the right side of the bathroom. 5. Place the cleaned sponge in the bathtub. |
1. Identify the location of the sponge, which is initially on the vanity.
2. Walk to the vanity, positioned to the left side of the bathroom. 3. Pick up the sponge from the vanity. 4. Ensure the sponge is clean. If it is not clean, clean the sponge using available resources (e.g., water from the sink next to the bathtub). 5. Walk to the bathtub, located next to the vanity on the right side. 6. Place the cleaned sponge in the bathtub, preferably near the edge where other cleaning items might be located. |