This question is impossible to answer in any detail with primary sources. We know an escaped gladiator named Spartacus led a massive slave revolt in Italy in the 1st century BC spanning several years and these slaves are reported to have engaged in a lot of looting and pillaging of the Roman countryside. All we can do is speculate as to the specific details of that and perhaps draw on accounts of similar events throughout history to inform those speculations. The 3rd Servile War of 73-71 BC was the largest slave rebellion in history until the Haitian Revolution of 1791-1804, so perhaps despite the 1,900 year difference there are some similarities between the two events as well as other slave rebellions and how they were conducted, at least on a very micro scale such as when it came to raiding villas or plantations.

There are lots of important differences between Roman slavery and African slavery in the Americas, such as the latter being based on race and the industrial agricultural scale of American slavery, but I think there's a good chance at least some of the basic mentality and mechanics of slaves revolting and looting plantations hasn't changed all that much and looking at later slave uprisings might give our best real glimpse into what it might have actually been like at the ground level. So here goes.

This is a vivid first-hand account of what it was like to be raided by rebel slaves at night written by an anonymous author who was a French plantation overseer in Haiti during the very beginning of the revolt in 1791:

...my dog who was lying in the gallery near my bedroom started to bark loud enough to wake me. Wrongly irritated by this continual barking, I got up to quiet him down, and then went back to sleep. Fifteen minutes later, the poor dog started up again even more incessantly. But, alas, it was too late to wonder what was happening, the blacks had already taken over all the paths around the plantation house. Hearing the noise they were making, I jumped out of my bed and shouted: "Who goes there?" A voice like thunder answered me: "It is death!" At the same time, I heard a considerable number of gunshots and the voice of a horde of blacks who filled the house with these terrible words: "Kill, kill!" Seeing what was happening, and having no way to escape, I ran to get my pistols [but they were not loaded]. ... In the blink of an eye the shutters and curtains of my windows, which were of a man's height, were broken through. ... I bounded into [my closet], and there I waited, trembling, to be discovered. Several blacks who came into my room and thought they had killed me in my bed [by shooting him] began pillaging, while others who wanted my blood and my belongings bashed against the door to force it open" (qtd. in Popkin, 50)

The account goes on to say that he waited an hour hiding in the closet like this and heard the slaves listing the other whites/slaveowners they had killed. Eventually a new group of slaves entered his bedroom and realized he wasn't dead and started searching for him. They quickly found him in the closet and he begged them to take everything he had but spare his life. They answered in a mocking tone: "What does he want us to take, there's nothing left in his closet?" They were about to execute him but to his surprise the leader of the slaves named Boukman ordered them not to, according to the author because when he was overseeing the plantation he had chosen Boukman as an assistant for his intelligence. He was then put under guard but the crowd of slaves still insulted him, "I had to endure the most atrocious insults that mouths can utter; a hundred times they were ready to kill me in spite of the efforts of my guards."

After a while he saw two other whites that had also been captured and his guards started drinking and then left to go eat at a neighboring plantation they had captured, although he begged them to stay because they were protecting him from being killed. Eventually he was found and rescued by a detachment of French dragoons that arrived at the plantation.

The rebel slaves did liberate other slaves to join in their revolt when they sacked the plantation, but something of note is that not all slaves were necessarily always eager to run away with the rebels. The above account states that the rebels went looking for recruits in the slave huts "as much by force as by good will." There are some accounts of slaves "remaining loyal" and hiding and helping their masters (Popkin, 53, 157-8), but as Jeremy Popkin states in Facing Racial Revolution, this loyalty did not necessarily imply emotional bonds: "Joining the insurrection, which, at this point, was not yet a movement to abolish slavery, was a leap into the unknown and meant, not only the possibility of death in combat or punishment if the whites prevailed, but also the danger of not having enough to eat ... Temporizing until the outcome of the struggle became clearer may have struck some ... as the safest course of action" (Popkin, 175-6).

In another account a female plantation owner could see fires from distant plantations being burned and temporarily took refuge in another plantation along with others. She was warned to flee, but not heeding this advice she returned to her own plantation only to be attacked a few days later by a band of rebels who took away all the male slaves. The leader of these rebels then told her to go to another plantation and kidnapped her young son [who was later released to safety]. She was taken away by her female slaves to live in their huts for a while until she was eventually able to get away.

A different slave revolt that has some good examples of rebel slaves raiding houses and farms comes from Nat Turner's slave rebellion in the Southern United States in 1831. In the early stages of this brief but bloody revolt the slaves used primarily axes, swords and clubs to kill their targets both because they didn't have many guns and they didn't want to alert nearby farms and plantations to what was happening. Nat Turner's supposed first person confession told to the lawyer Thomas Ruffin Gray was published in a pamphlet in 1831 and that's what I'll be quoting from:

...it was quickly agreed we should commence at [his master's house] on that night, and until we had armed and equipped ourselves, and gathered sufficient force, neither age nor sex was to be spared ... Hark went to the door with an axe, for the purpose of breaking it open, as we knew we were strong enough to murder the family, if they were awaked by the noise; but reflecting that it might create an alarm in the neighborhood, we determined to enter the house secretly, and murder them whilst sleeping. Hark got a ladder and set it against the chimney, on which I ascended, and hoisting a window, entered and came down stairs, unbarred the door, and removed the guns from their places. It was then observed that I must spill the first blood. On which, armed with a hatchet, and accompanied by Will, I entered my master’s chamber, it being dark, I could not give a death blow, the hatchet glanced from his head, he sprang from the bed and called his wife, it was his last word, Will laid him dead, with a blow of his axe, and Mrs. Travis shared the same fate, as she lay in bed. The murder of this family, five in number, was the work of a moment...

After this they looted weapons from the house and Nat Turner instructed the other slaves on how to use them for a bit:

...we got here, four guns that would shoot, and several old muskets, with a pound or two of powder. We remained some time at the barn, where we paraded; I formed them in a line as soldiers, and after carrying them through all the maneuvers I was master of, marched them off to Mr. Salathul Francis’, about six hundred yards distant.

When they came to the next plantation house they knocked on the door, saying they had a letter to deliver, and then dragged the man out and killed him with the axe when he answered. Seeing that there was "no other white person in the family," meaning only slaves left, they then walked on to the next house maintaining silence. There they found the door unlocked and killed a woman and her son while they slept. At the house after that they made more noise (including firing a gun) and the family locked themselves in the house, but they were able to quickly break down the door and kill occupants with axes and swords. After that a "general destruction of property and search for money and ammunition" ensued as happened after every killing. While walking to the next house Nat saw someone run around a garden and thought it was a white member of the family, but after pursuing her and realizing she was a slave he let her go. At this house too they killed the family:

As I came round to the door I saw Will pulling Mrs. Whitehead out of the house, and at the step he nearly severed her head from her body, with his broad axe. Miss Margaret, when I discovered her, had concealed herself in the corner, formed by the projection of the cellar cap from the house; on my approach she fled, but was soon overtaken, and after repeated blows with a sword, I killed her by a blow on the head, with a fence rail.

After that a number of slaves came back from other houses where they had also gone to kill the occupants and reported that one family had already fled indicating there was no longer a need for stealth. Now the band of slaves had risen to 40 men and fifteen or twenty of the best armed and most reliable mounted on horses rode ahead to raid the next plantation. Nat says this was done for two reasons, "to prevent their escape and strike terror to the inhabitants." There they followed the same pattern as before.

Sources:

Facing Racial Revolution: Eyewitness Accounts of the Haitian Insurrection by Jeremy D. Popkin

The Confessions of Nat Turner: The Leader of the Late Insurrection in Southampton, Virginia by Thomas Ruffin Gray/Nat Turner