| Ground truth | Single Agent with table | Multi Agent with table | Single Agent with image | Multi Agent with image |
|---|---|---|---|---|
| STEP 1: Turn left, go forward, turn left and go to the counter
STEP 2: Pick up the tomato on the counter STEP 3: Turn right, go forward a bit, turn right and go to the fridge STEP 4: Put the tomato in the fridge, wait, pick up the tomato STEP 5: Turn around, go forward a bit, turn left and go to the microwave STEP 6: Put the tomato in the microwave |
Turn around and walk to the countertop., Take the tomato from the countertop., Turn around and walk to the fridge., Cool the tomato in the fridge., Turn around and walk to the microwave., Place the cooled tomato in the microwave. | Turn around and walk to the fridge., Take a tomato out of 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 top shelf inside the refrigerator. 4. Close the refrigerator door. 5. Turn right and walk to the microwave situated on the countertop to the right of the sink. 6. Open the microwave door. 7. Place the tomato inside the microwave. 8. Close the microwave door. 9. Operate the microwave to start the heating process. | 1. Walk to the tomato at position on the countertop under the window. 2. Pick up the tomato from the countertop. 3. Walk to the refrigerator at position next to the countertop. 4. Open the refrigerator door. 5. Place the tomato inside the refrigerator to cool it. 6. Close the refrigerator door. 7. Wait for the tomato to cool. 8. Open the refrigerator door. 9. Take the cooled tomato out of the refrigerator. 10. Close the refrigerator door. 11. Walk to the microwave at position on the countertop next to the sink. 12. Open the microwave door. 13. Place the cooled tomato inside the microwave. 14. Close the microwave door. |