| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn left and go forward to the stove.
STEP 2: Pick up the pot on the right side of the stove. STEP 3: Turn around and go straight, then turn left to go to the fridge. STEP 4: Open the fridge, put the pot inside and chill it, then take the pot out. STEP 5: Turn around and go to the white table. STEP 6: Put the pot on the white table. |
Turn around and walk to the stove burner.,
Take the pot from the left stove burner., Turn around and walk to the white dining table., Place the pot on the white dining table. |
Turn around and walk to the stove at position (-1.552, 0.930, 0.785).,
Take the pot from the stove burner., Turn around and walk to the DiningTable at position (-0.350, -0.025, 0.857)., Place the pot on the white table. |
1. Walk to the pot located on the stove to the left side of the kitchen.
2. Pick up the pot from the stove. 3. Turn right and walk to the white table located in the center of the kitchen. 4. Place the pot on the white table. |
1. Walk to the stove, located next to the counter and next to the sink.
2. Identify the pot on the stove. 3. Check if the pot is cold. If not, wait until it cools down. 4. Pick up the cold pot from the stove. 5. Turn towards the table, which is in front of the stove and in front of the refrigerator. 6. Walk to the white table. 7. Identify a clear space on the table. If there is no clear space, move items such as the apple, tomato, lemon, plate, or knife to create one. 8. Gently place the cold pot on the cleared space on the white table. |