Visual instruction generation
Consistent Image Generation
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Independent
Key-Value
Baseline
Ours
Step 1
Step 2
Step 3
Step 4
Steps
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
State similarity
Concatenate Actions and States
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Action
Concatenate Actions
Baseline
Ours
Step 1
Step 2
Step 3
Step 4
Steps
Step 1
Step 2
Step 3
Step 4
States
Baseline Comparison
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GII
GenHowTo
State
GenHowTo
Action
Ours
Step 1
Step 2
Step 3
Step 4
Steps
More visual instructions
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Ours
Step 1
Step 2
Step 3
Step 4
Steps