| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn right and walk across the room to face the trash can.
STEP 2: Pick up the tomato in the trash can. STEP 3: Turn around and walk across the room to face the fridge. STEP 4: Cool the tomato in the fridge and remove it. STEP 5: Turn around and walk across the room to face the trash can. STEP 6: Place the tomato in the trash can. |
Turn around and walk to the countertop.,
Take the tomato at position (-0.341, 0.953, 0.423)., Turn around and walk to the fridge., Cool the tomato in the fridge., Turn around and walk to the garbage can., Place the tomato in the garbage can at position (1.646, -0.000, 0.679). |
Turn around and walk to the fridge.,
Take the tomato out of the fridge., Turn around and walk to the garbage can., Place the tomato in the garbage can. |
1. Walk to the tomato on the kitchen island.
2. Pick up the tomato. 3. Turn to face the refrigerator. 4. Walk to the refrigerator. 5. Open the refrigerator door. 6. Place the tomato inside the refrigerator to cool. 7. Close the refrigerator door. 8. Wait for the tomato to cool. 9. Open the refrigerator door. 10. Take the cooled tomato out of the refrigerator. 11. Close the refrigerator door. 12. Turn to face the trash can under the kitchen sink. 13. Walk to the trash can. 14. Open the trash can lid. 15. Place the tomato in the trash can. 16. Close the trash can lid. |
1. Walk to the kitchen island, located in the center of the kitchen.
2. Pick up the tomato, which is on the kitchen island. 3. Walk to the refrigerator, located in the kitchen, next to the oven. 4. Open the refrigerator door. 5. Place the tomato inside the refrigerator. 6. Close the refrigerator door. 7. Wait for the tomato to cool to the desired temperature. 8. Open the refrigerator door. 9. Retrieve the tomato from the refrigerator. 10. Close the refrigerator door. 11. Walk to the trash can, located under the sink in the kitchen. 12. Open the trash can lid. 13. Place the cooled tomato in the trash can. 14. Close the trash can lid. |