| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Walk to the wall then turn left to face the fridge.
STEP 2: Take a tomato from the fridge. STEP 3: Turn left and walk to the sink. STEP 4: Put the tomato in the sink on the left, wash it off, and pick it up. STEP 5: Turn right and walk to the microwave. STEP 6: Put the tomato down on the counter next to the sponge. |
Turn around and walk to the fridge.,
Take the tomato out of the fridge., Turn around and walk to the sink., Wash the tomato in the sink., Turn around and walk to the counter., Place the tomato on the counter. |
Turn around and walk to the fridge.,
Take the tomato out of the fridge., Turn around and walk to the sink., Wash the tomato under the faucet., Turn around and walk to the countertop., Place the cold, clean tomato on the counter. |
1. Walk to the refrigerator located on the right side of the kitchen.
2. Open the refrigerator door. 3. Reach for the tomato inside the refrigerator. 4. Close the refrigerator door. 5. Turn left towards the counter. 6. Walk to the counter located in the center of the kitchen. 7. Place the cold, clean tomato on the counter. |
1. Walk to the refrigerator located to the right of the counter.
2. Open the refrigerator door. 3. Locate a tomato inside the refrigerator. 4. Take the tomato out of the refrigerator. 5. Close the refrigerator door. 6. Walk to the sink located on the counter, in front of the window. 7. Rinse the tomato under the faucet above the sink to clean it. 8. Turn off the faucet. 9. Walk to a clear spot on the counter, preferably near the sink for convenience. 10. Place the cold, clean tomato on the counter. |