SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel7
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: pink_polygon, yellow_trapezoid, can't reach cubes: blue_square,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel7
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: pink_polygon, can't reach cubes: blue_square, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
Bob
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel7
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, can't reach cubes: pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
Action
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel5
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: pink_polygon, yellow_trapezoid, can't reach cubes: blue_square,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel5
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel5
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, can't reach cubes: pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
Action
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Bob
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
Chad
Bob, you cannot reach panel3 to pick the pink_polygon. You can only reach panels 4, 5, and 6. I will pick the yellow_trapezoid from panel1 and place it on panel6, which is my target panel.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
Bob, you cannot reach panel3 to pick the pink_polygon. You can only reach panels 4, 5, and 6. I will pick the yellow_trapezoid from panel1 and place it on panel6, which is my target panel.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Alice
Chad, it seems you were unable to reach the yellow_trapezoid on panel1. Bob, since Chad cannot reach panel1, could you please pick the yellow_trapezoid from panel1 and place it on panel4? This way, Chad can then move it to his target panel, panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
Task Constraints:
faild, Bob's ACTION is not valid, yellow_trapezoid cube can only be placed on panel6, panel3, panel5, but not on panel4
Action
Alice: PICK blue_square PLACE panel2
Bob: PICK yellow_trapezoid PLACE panel4
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
Bob, you cannot reach panel3 to pick the pink_polygon. You can only reach panels 4, 5, and 6. I will pick the yellow_trapezoid from panel1 and place it on panel6, which is my target panel.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems you were unable to reach the yellow_trapezoid on panel1. Bob, since Chad cannot reach panel1, could you please pick the yellow_trapezoid from panel1 and place it on panel4? This way, Chad can then move it to his target panel, panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
Task Constraints:
faild, Bob's ACTION is not valid, yellow_trapezoid cube can only be placed on panel6, panel3, panel5, but not on panel4
Alice
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-1.12, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Reachability failed: Out of reach: Bob (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
Bob, you cannot reach panel3 to pick the pink_polygon. You can only reach panels 4, 5, and 6. I will pick the yellow_trapezoid from panel1 and place it on panel6, which is my target panel.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems you were unable to reach the yellow_trapezoid on panel1. Bob, since Chad cannot reach panel1, could you please pick the yellow_trapezoid from panel1 and place it on panel4? This way, Chad can then move it to his target panel, panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
Task Constraints:
faild, Bob's ACTION is not valid, yellow_trapezoid cube can only be placed on panel6, panel3, panel5, but not on panel4
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-1.12, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Reachability failed: Out of reach: Bob (-1.12, 0.50, 0.29);
Alice
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-1.12, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Reachability failed: Out of reach: Bob (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: PICK yellow_trapezoid PLACE panel6
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
Bob, you cannot reach panel3 to pick the pink_polygon. You can only reach panels 4, 5, and 6. I will pick the yellow_trapezoid from panel1 and place it on panel6, which is my target panel.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems you were unable to reach the yellow_trapezoid on panel1. Bob, since Chad cannot reach panel1, could you please pick the yellow_trapezoid from panel1 and place it on panel4? This way, Chad can then move it to his target panel, panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel4
NAME Chad ACTION WAIT
Task Constraints:
faild, Bob's ACTION is not valid, yellow_trapezoid cube can only be placed on panel6, panel3, panel5, but not on panel4
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-1.12, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Reachability failed: Out of reach: Bob (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-1.12, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Reachability failed: Out of reach: Bob (-1.12, 0.50, 0.29);
Alice
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Bob
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
Chad
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Alice
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-0.40, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Collision detected: collided object pairs: Alice-Bob
Action
Alice: PICK blue_square PLACE panel2
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-0.40, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Collision detected: collided object pairs: Alice-Bob
Alice
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel3
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (-0.40, 0.50, 0.29); Chad (1.38, 1.18, 0.44):
- Collision detected: collided object pairs: Alice-Bob
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.51, 0.40, 0.29); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Alice
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: pink_polygon, can't reach cubes: blue_square, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
- Goal Step Alice (-0.22, 1.18, 0.46); Bob (-0.40, 0.50, 0.29); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: PICK yellow_trapezoid PLACE panel1
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is on panel3
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
- Goal Step Alice (-0.22, 1.18, 0.46); Bob (-0.40, 0.50, 0.29); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Alice
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
Action
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: pink_polygon, can't reach cubes: blue_square, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.22, 1.18, 0.45); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Action
Alice: WAIT
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is in panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.22, 1.18, 0.45); Bob (0.55, -0.05, 0.61); Chad (-1.12, 0.50, 0.29):
- Reachability failed: Out of reach: Chad (-1.12, 0.50, 0.29);
Alice
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.20, 1.18, 0.46); Bob (0.55, -0.05, 0.60); Chad (-0.32, 0.60, 0.29):
- Reachability failed: Out of reach: Chad (-0.32, 0.60, 0.29);
Action
Alice: WAIT
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.20, 1.18, 0.46); Bob (0.55, -0.05, 0.60); Chad (-0.32, 0.60, 0.29):
- Reachability failed: Out of reach: Chad (-0.32, 0.60, 0.29);
Alice
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
Bob
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.60); Chad (1.38, 1.18, 0.42):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Action
Alice: PICK yellow_trapezoid PLACE panel5
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.60); Chad (1.38, 1.18, 0.42):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Alice
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.20, 1.18, 0.46); Bob (0.55, -0.05, 0.59); Chad (-0.32, 0.60, 0.29):
- Reachability failed: Out of reach: Chad (-0.32, 0.60, 0.29);
Action
Alice: WAIT
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
- Goal Step Alice (-0.20, 1.18, 0.46); Bob (0.55, -0.05, 0.59); Chad (-0.32, 0.60, 0.29):
- Reachability failed: Out of reach: Chad (-0.32, 0.60, 0.29);
Alice
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
Bob
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.58); Chad (1.37, 1.18, 0.40):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Action
Alice: PICK yellow_trapezoid PLACE panel5
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.58); Chad (1.37, 1.18, 0.40):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Alice
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
- Goal Step Alice (-0.24, 1.18, 0.46); Bob (-1.09, 0.50, 0.29); Chad (1.37, 1.18, 0.40):
- Reachability failed: Out of reach: Bob (-1.09, 0.50, 0.29);
Action
Alice: WAIT
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
- Goal Step Alice (-0.24, 1.18, 0.46); Bob (-1.09, 0.50, 0.29); Chad (1.37, 1.18, 0.40):
- Reachability failed: Out of reach: Bob (-1.09, 0.50, 0.29);
Alice
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Feedback
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.56); Chad (1.37, 1.18, 0.39):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Action
Alice: PICK yellow_trapezoid PLACE panel5
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Previous Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Environment Feedback]:
- Previous Plan:
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
- Goal Step Alice (0.28, 0.60, 0.50); Bob (0.55, -0.05, 0.56); Chad (1.37, 1.18, 0.39):
- Reachability failed: Out of reach: Alice (0.28, 0.60, 0.50);
Alice
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, can't reach cubes: yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Bob
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel1
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Chad
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
Action
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, yellow_trapezoid, can't reach cubes: pink_polygon,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel3
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty,can't reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
Action
Alice: WAIT
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#13 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Alice in front of panel2. You are collaborating with Bob, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel5
Your goal is to place blue_square on panel2, but you can only reach panel1, panel2, panel3: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, can't reach cubes: pink_polygon, yellow_trapezoid,
Never forget you are Alice! Never forget you can only reach panel1, panel2, panel3!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
Alice
Chad, now that the yellow_trapezoid is on panel5, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and since I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#13 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Bob in front of panel4. You are collaborating with Alice, Chad to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel5
Your goal is to place pink_polygon on panel4, but you can only reach panel3, panel4, panel5: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: blue_square, pink_polygon, yellow_trapezoid,
Never forget you are Bob! Never forget you can only reach panel3, panel4, panel5!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel5, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and since I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Bob
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
SystemPrompt
[Action Options]
1) PICK <object name> PLACE <location>
2) WAIT
Only PICK an object if your gripper is empty. Target <location> for PLACE should be panel or a bin.
[Action Output Instruction]
You must first output 'EXECUTE
', then give **exactly** one action per robot, put each on a new line.
Example: 'EXECUTE
NAME Alice ACTION PICK red_square PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION PICK green_trapezoid PLACE panel6
'
[History]
== Round#0 ==
[Chat History]
[Alice]:
I am Alice, and my goal is to place the blue_square on panel2. However, I can only reach panels 1, 2, and 3, and currently, the blue_square is on panel7, which is out of my reach. I need assistance from either Bob or Chad to move the blue_square closer to me so I can then place it on panel2.
Bob or Chad, can one of you pick the blue_square from panel7 and place it on panel3, which I can reach? Once the blue_square is on panel3, I can then pick it up and place it on its target panel, panel2.
For the current round, I will:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
Alice, I am Bob and I can assist with moving the blue_square. However, I cannot reach panel7 where the blue_square currently is. Chad will need to move the blue_square to panel5, which I can then pick up and place on panel3 for you.
Chad, please pick the blue_square from panel7 and place it on panel5. Once it's on panel5, I can move it to panel3 for Alice.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK blue_square PLACE panel5
[Executed Action]
Alice: WAIT
Bob: WAIT
Chad: PICK blue_square PLACE panel5
== Round#1 ==
[Chat History]
[Alice]:
Bob, now that the blue_square is on panel5, you can pick it up and place it on panel3. Once it's there, I will be able to pick it up and place it on its target, panel2.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK blue_square PLACE panel3
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK blue_square PLACE panel3
Chad: WAIT
== Round#2 ==
[Chat History]
[Alice]:
I will pick the blue_square from panel3 and place it on its target, panel2.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
[Alice]:
Bob, we need to avoid collisions. I will pick the blue_square from panel3 and place it on panel2. You can wait this round, and Chad can pick the yellow_trapezoid from panel1 and place it on panel6.
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
EXECUTE
NAME Alice ACTION PICK blue_square PLACE panel2
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK blue_square PLACE panel2
Bob: WAIT
Chad: WAIT
== Round#3 ==
[Chat History]
[Alice]:
Since the blue_square is already in its target panel, which is panel2, my task is complete. Now, I can assist Bob and Chad with their tasks. Bob can reach panels 4, 5, and 6, and Chad can reach panels 5, 6, and 7.
Bob, you can pick the pink_polygon from panel3 and place it on panel4, which is within your reach. Chad, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION PICK yellow_trapezoid PLACE panel1
[Alice]:
Chad, it seems there was a mistake in your previous action. You cannot reach panel1 to pick the yellow_trapezoid. Instead, you should pick the yellow_trapezoid from panel5 after Bob places the pink_polygon on panel4.
Bob, please proceed with your action to move the pink_polygon to panel4. Chad, after Bob's action, you will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK pink_polygon PLACE panel4
NAME Chad ACTION WAIT
After Bob's action, Chad will be able to pick the yellow_trapezoid from panel5 and place it on panel6.
[Executed Action]
Alice: WAIT
Bob: PICK pink_polygon PLACE panel4
Chad: WAIT
== Round#4 ==
[Chat History]
[Alice]:
Chad, now that the pink_polygon is on panel4, you can pick the yellow_trapezoid from panel1 and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was an issue with reachability for the yellow_trapezoid on panel1. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#5 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. I will wait this round since my task is complete and my gripper is empty.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
It appears there was a reachability issue for Chad in the previous round. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#6 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a confusion. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel3, which is within my reach. From there, you can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#7 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, which is within your reach, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Alice]:
Chad, it seems there was a reachability issue with the yellow_trapezoid on panel3. Since I can reach panel3, I will pick the yellow_trapezoid and place it on panel1, which is within my reach. From there, Bob can pick it up and place it on panel6, which is within his reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#8 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel6. My gripper is empty, and I will wait this round as there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel6
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, I can pick the pink_polygon from panel4, which is already at its target location, so there is no need for action on my part regarding the pink_polygon.
Chad, you can reach panels 5, 6, and 7. Please pick the yellow_trapezoid from panel1 and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel1 to pick the yellow_trapezoid. Alice, since you can reach panel1, you need to move the yellow_trapezoid to panel3, which is within your reach. From there, I can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#9 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and I will wait this round since my task is complete and there is no action required from me.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there seems to be a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, you need to move the yellow_trapezoid to panel5, which I can then pick up and place on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion earlier. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#10 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel1, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
Alice, there seems to be a misunderstanding. Chad cannot reach panel1 to pick the yellow_trapezoid. Since the yellow_trapezoid is on panel1 and I can reach panels 3, 4, and 5, I will pick the yellow_trapezoid and place it on panel5, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Alice]:
Bob, it seems there was a reachability issue with your previous action. Since I can reach panel1, I will pick the yellow_trapezoid and place it on panel3, which is within my reach and also within Chad's reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#11 ==
[Chat History]
[Alice]:
Chad, now that the yellow_trapezoid is on panel3, you can pick it up and place it on panel6, which is your target panel. Since my gripper is empty and I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Chad]:
Alice, Bob, there is a misunderstanding. I cannot reach panel3 to pick the yellow_trapezoid. Alice, since you can reach panel3, please move the yellow_trapezoid to panel5, which is within my reach. From there, I can pick it up and place it on panel6, which is my target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel5
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Alice]:
Chad, I apologize for the confusion. I cannot reach panel5 to place the yellow_trapezoid there. However, I can move it to panel1, which is within my reach. From there, you can pick it up and place it on panel6, which is within your reach.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel1
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel1
Bob: WAIT
Chad: WAIT
== Round#12 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, please pick the yellow_trapezoid from panel1 and place it on panel5. Chad can then pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
Alice, I cannot reach panel1 to pick the yellow_trapezoid. However, since you can reach panel1, you should move the yellow_trapezoid to panel3. Then, I can pick it up from panel3 and place it on panel5, which is within my reach. From there, Chad can pick it up and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION PICK yellow_trapezoid PLACE panel3
NAME Bob ACTION WAIT
NAME Chad ACTION WAIT
[Executed Action]
Alice: PICK yellow_trapezoid PLACE panel3
Bob: WAIT
Chad: WAIT
== Round#13 ==
[Chat History]
[Alice]:
Bob, since you can reach panels 4, 5, and 6, you should pick the yellow_trapezoid from panel3 and place it on panel5. Then, Chad can pick it up from panel5 and place it on panel6, which is his target panel.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Chad]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION PICK yellow_trapezoid PLACE panel5
NAME Chad ACTION WAIT
[Executed Action]
Alice: WAIT
Bob: PICK yellow_trapezoid PLACE panel5
Chad: WAIT
== Current Round ==
7 panels on the table, ordered left to right: panel1,...,panel7. They form a straight assembly line, panel1 is closed to panel2 and farthest from panel7.
You are robot Chad in front of panel6. You are collaborating with Alice, Bob to sort cubes into their target panels as quickly as possible. The task is NOT done until all three cubes are sorted.
At current round:
blue_square is on panel2
pink_polygon is in panel4
yellow_trapezoid is on panel5
Your goal is to place yellow_trapezoid on panel6, but you can only reach panel5, panel6, panel7: this means you can only pick cubes from these panels, and can only place cubes on these panels.
Your gripper is empty, can reach cubes: yellow_trapezoid, can't reach cubes: blue_square, pink_polygon,
Never forget you are Chad! Never forget you can only reach panel5, panel6, panel7!
Think step-by-step about the task and others' response. Carefully check and correct them if they made a mistake.
Improve your plans if given [Environment Feedback].
When you respond, tell others about your goal and all constraints. Respond very concisely but informatively, and do not repeat what others have said.
Discuss with others to come up with the best plan, e.g. if your cube is out of your reach, ask others for help, and you can do the same for them.
Propose exactly one action for yourself at the **current** round, select from [Action Options].
End your response by either: 1) output PROCEED, if the plans require further discussion, or 2) If everyone has made proposals and got approved, output EXECUTE and the final plan, must strictly follow [Action Output Instruction]!
In the plan, at least one robot should be acting, you can't all WAIT.
[Current Chat]
[Alice]:
Chad, now that the yellow_trapezoid is on panel5, you can pick it up and place it on panel6, which is your target panel. My gripper is empty, and since I have completed my task with the blue_square, I will wait this round.
For the current round, I propose:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
[Bob]:
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Chad
EXECUTE
NAME Alice ACTION WAIT
NAME Bob ACTION WAIT
NAME Chad ACTION PICK yellow_trapezoid PLACE panel6
Action
Alice: WAIT
Bob: WAIT
Chad: PICK yellow_trapezoid PLACE panel6