| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn to the left, and then the left again to face the counter.
STEP 2: Pick up the tomato from the left side of the counter. STEP 3: Carry the tomato and move to the right, then turn around to locate the fridge. STEP 4: Open the fridge and place the tomato inside. Shut the fridge, then open it. Take the tomato out and shut the door. STEP 5: Take the tomato and turn around, then left to find the stove. Look up to the microwave. STEP 6: Open the microwave and place the tomato inside. |
Turn around and walk to the fridge., Take a tomato from the fridge., Turn around and walk to the microwave., Place the tomato in the microwave. | Turn around and walk to the fridge., Take a tomato from the fridge., Turn around and walk to the microwave., Place the tomato in the microwave. | 1. Walk to the refrigerator located on the left side of the kitchen. 2. Open the refrigerator door. 3. Pick up the tomato from the countertop in front of the window. 4. Place the tomato inside the refrigerator. 5. Close the refrigerator door. 6. Wait for the tomato to chill. 7. Open the refrigerator door. 8. Take the chilled tomato out of the refrigerator. 9. Close the refrigerator door. 10. Walk to the microwave located on the countertop to the right of the sink. 11. Open the microwave door. 12. Place the chilled tomato inside the microwave. 13. Close the microwave door. | 1. Walk to the tomato at position on the countertop. 2. Pick up the tomato. 3. Walk to the refrigerator at position to the left of the oven. 4. Open the refrigerator door. 5. Place the tomato inside the refrigerator to chill it. 6. Close the refrigerator door. 7. Wait for the tomato to chill. 8. Open the refrigerator door. 9. Take the chilled tomato out of the refrigerator. 10. Walk to the microwave at position above the oven. 11. Open the microwave door. 12. Place the chilled tomato inside the microwave. 13. Close the microwave door. |