Table 1 Success rates of our metaAgent over 100 language commands with different complexities

Instructions		Steps	Success Rate (%)
Instructions		Steps	TP	AS&DA	CG	TE
simple instructions	Where is the table?	1	100	100	100	100
	Where is Alice?	1	100	100	100	98
	Where is my cell phone?	1	97	100	98	93
	Where is robot A?	1	98	100	98	94
	Please locate the router.	1	96	100	98	93
	Please check Bob’s breathing.	2	98	100	94	90
	What happened to Alice?	2	94	100	96	89
	Please check Bob’s health status.	2	90	98	92	84
	Enhance the Wi-Fi signal in the corridor.	3	97	100	98	90
	My cell phone cannot get a signal, please help me.	3	98	99	100	88
	…	…	…	…	…	…
	Average performances of all 50 simple commands		97.4	99.2	96.9	90.2
complex instructions	Please check the respiration rate of Bob and Alice.	4	94	98	99	87
	What are Bob and Alice doing?	4	96	99	98	92
	Robot A, please see me.	5	88	98	96	78
	Robot A, take me to the corridor.	7	85	96	90	72
	Please send this picture to Alice’s computer.	4	89	99	95	86
	Let the robot A go to the pillbox and bring me my antihypertensive pills.	8	85	97	91	73
	Please bring Bob his antihypertensive pills.	8	78	95	92	71
	Let robot A to take the wooden block Bob’s holding to Alice.	9	75	95	89	72
	Let robots A and B go to room A and the corridor respectively.	10	85	96	93	78
	Bob needs help, his pressure is really high.	9	72	96	85	67
	…	…	…	…	…	…
	Average performances of all 50 complex commands		84.2	97.8	91.6	72.3

Steps the number of steps required to complete the instruction, TP task planning, AS&DA action selection and device allocation, CG code generation, TE task execution
In addition, we also report the average performances of all involved 50 simple and 50 complex commands, respectively. Note that only 10 simple and 10 complex commands are listed here due to the limited space

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