| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn left and go around the table. Turn slight left again and go forward to the oven.
STEP 2: Pick up the frying pan from the oven. STEP 3: Turn around to the right and go forward. Turn left and face the fridge. STEP 4: Place the frying pan in the fridge and then take it out. STEP 5: Turn to the left then turn left again to turn completely around and walk forward to the table. STEP 6: Place the frying pan on the table. |
Turn around and walk to the stove.,
Take the frying pan from the stove burner., Turn around and walk to the fridge., Place the frying pan in the fridge., Open the fridge door., Take the frying pan out of the fridge. |
Turn around and walk to the kitchen counter.,
Take the frying pan from the counter., Turn around and walk to the fridge., Open the fridge door., Place the frying pan inside the fridge., Close the fridge door., Open the fridge door again., Take the frying pan out of the fridge., Close the fridge door. |
1. Walk to the frying pan located on the countertop to the left of the stove.
2. Pick up the frying pan. 3. Turn to face the refrigerator, which is located to the right of the sink. 4. Walk to the refrigerator. 5. Open the refrigerator door. 6. Place the frying pan inside the refrigerator. 7. Close the refrigerator door. 8. Open the refrigerator door again. 9. Take out the frying pan. 10. Close the refrigerator door. 11. Place the frying pan back on the countertop where it was originally located. |
1. Walk to frying pan at position on countertop.
2. Pick up frying pan. 3. Walk to refrigerator at position next to sink. 4. Open refrigerator door. 5. Place frying pan inside refrigerator. 6. Close refrigerator door. 7. Open refrigerator door. 8. Take out frying pan from refrigerator. 9. Close refrigerator door. |