| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Move across the room to the round wood dining table
STEP 2: Pick up the green wine bottle on top of the table to the left of the bread STEP 3: Carry the green wine bottle to the wood shelves in the corner of the room STEP 4: Place the green wine bottle on the middle shelf on the far right side |
Turn around and walk to the dining table.,
Take the wine bottle from the dining table., Turn around and walk to the shelf., Place the wine bottle on the shelf. |
Turn around and walk to the wine rack.,
Take the wine bottle from the wine rack., Turn around and walk to the shelf., Place the wine bottle on the shelf |
1. Walk to the wine bottle located on the kitchen island.
2. Pick up the wine bottle. 3. Turn to face the shelf. 4. Walk to the shelf located against the wall. 5. Place the wine bottle on the shelf. |
1. **Identify the wine bottle's position**: The wine bottle is on the counter, to the left of a pot and to the right of a toaster. 2. **Walk to the wine bottle's position**: Navigate to the counter where the wine bottle is located, ensuring to avoid any obstacles between your current position and the destination. 3. **Pick up the wine bottle**: Securely grasp the wine bottle to ensure it is safely lifted from its position on the counter. 4. **Identify the shelf's position**: The shelf is against the wall and to the right of a window. 5. **Walk to the shelf's position**: Navigate from the counter to the shelf, adjusting your path as necessary to avoid obstacles like kitchen islands, stools, or other items on the floor. 6. **Place the wine bottle on the shelf**: Choose an appropriate spot on the shelf where the wine bottle can be placed without risk of falling or disturbing other items. Preferably, select a space that is easily accessible and provides stability for the wine bottle. 7. **Adjust the wine bottle's position if necessary**: Ensure the wine bottle is standing upright and is not in contact with other items that could cause it to tip over. Make any necessary adjustments to its position to ensure it is secure. |