In this work, we further test the hypothesis that physical embodiment has a measurable effect on performance and impression of social interactions. We have refined our task-based metrics to give a measurement, not only of the participant's immediate impressions of a coach for a task, but also the participant's performance in a given task. Support for this hypothesis would suggest fundamental differences between virtual agents and robots from a social standpoint and have significant implications for human-robot interaction. We measure task performance and impression of a robot's social abilities in a structured task based on the Towers of Hanoi puzzle. Our experiment compares aspects of embodiment by evaluating: (1) the difference between a physical robot and a simulated one; and (2) the effect of physical presence through a co-located robot versus a remote tele-present robot. With a participants pool of roboticists and non-roboticists (n=21), we were able to show that participants felt that an embodied robot was more appealing and perceptive of the world than non-embodied robots. A larger pool of participants (n=32) also demonstrated that the embodied robot was seen as most helpful, watchful, and enjoyable when compared to a remote presence robot and a simulated robot.