Scene 1: Countertop

Thought: I cannot confidently determine which containers have water without additional information.

Plan:

1. Done

Thought: I can ask which objects have water out of all the objects I can carry. I will only bring the ones with a confidence score over 0.8.

Question about [A, B, C, D, F, G]: Does this object have water?

Answer:

A: Yes (0.9), No (0.09), Unknown (0.0)

B: Yes (0.99), No (0.01), Water (0.0)

C: Yes (0.98), No (0.02), Water (0.0)

D: No (0.67), Yes (0.25), Unknown (0.04)

F: Yes (0.95), No (0.04), Water (0.0)

G: No (0.8), Yes (0.15), Unknown (0.02)

Thought: The objects with water and a confidence score over 0.8 are A, B, C, and F.

Plan:

1. Go to object A

2. Pick up object A

3. Bring to human object A

4. Put down object A

5. Go to object B

6. Pick up object B

7. Bring to human object B

8. Put down object B

9. Go to object C

10. Pick up object C

11. Bring to human object C

12. Put down object C

13. Go to object F

14. Pick up object F

15. Bring to human object F

16. Put down object F

17. Done

Thought: I can ask which objects have water out of all the objects I can carry. I will only consider objects with a confidence score over 0.8.

Question about [A, B, C, D, F, G]: Does this object have water?

Answer:

A: Yes (0.58), No (0.39), Unknown (0.02)

B: Yes (0.98), No (0.01), Water (0.0)

C: No (0.96), Yes (0.03), Nothing (0.01)

D: No (0.87), Yes (0.1), Unknown (0.01)

F: No (0.93), Yes (0.06), Nothing (0.01)

G: No (0.93), Yes (0.05), Unknown (0.01)

Thought: The only object that has a confidence score over 0.8 for having water is B.

Plan:

1. Go to object B

2. Pick up object B

3. Bring to human object B

4. Done