| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Move forward, turn right to go towards the stove, turn left and move forward, then turn right to face the trash bin
STEP 2: Pick up a tomato from the trash bin. STEP 3: Turn around and move forward, go left to the counter, then turn right and go forward to the fridge. STEP 4: Open the fridge, put the tomato inside and chill it, then take it out. STEP 5: Turn around and go to the stove ahead, turn left and go forward, then turn right to face the trash bin. STEP 6: Put the tomato in the trash bin. |
Turn around and walk to the countertop.,
Take the tomato from the countertop., Turn around and walk to the garbage can., Place the tomato in the garbage can. |
Turn around and walk to the refrigerator.,
Take the tomato out of the refrigerator., Turn around and walk to the garbage can., Place the tomato in the garbage can. |
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 around to face the trash can. 6. Walk to the trash can located on the left side of the kitchen island. 7. Open the trash can lid. 8. Put the cold tomato in the trash can. 9. Close the trash can lid. |
1. Walk to the kitchen island, which is in the center of the kitchen.
2. Locate the red tomato on the countertop of the kitchen island, next to the loaf of bread. 3. Pick up the red tomato from the countertop. 4. Look for the trash bin, which is likely under the sink or in a lower cabinet based on typical kitchen layouts. 5. If the trash bin is under the sink, walk to the sink, which is next to the dishwasher. 6. Open the cabinet under the sink or the designated cabinet where the trash bin is stored. 7. Place the cold tomato in the trash bin. 8. Close the lid of the trash bin. 9. Close the cabinet door if you opened one to access the trash bin. |