Despite recent advances in inversion and instruction-based image editing, existing approaches primarily excel at editing single, prominent objects but significantly struggle when applied to complex scenes containing multiple entities. To quantify this gap, we first introduce RefEdit-Bench, a rigorous real-world benchmark rooted in RefCOCO, where even baselines trained on millions of samples perform poorly. To overcome this limitation, we introduce RefEdit -- an instruction-based editing model trained on our scalable synthetic data generation pipeline. Our RefEdit, trained on only 20,000 editing triplets, outperforms the Flux/SD3 model-based baselines trained on millions of data. Extensive evaluations across various benchmarks demonstrate that our model not only excels in referring expression tasks but also enhances performance on traditional benchmarks, achieving state-of-the-art results comparable to closed-source methods. We release data \& checkpoint for reproducibility.

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge across many domains can be used to predict a sequence of abstract actions for completing such tasks, although the agent may not be able to execute this sequence due to task-, agent-, or domain-specific constraints. Our framework addresses these challenges by leveraging the generic predictions provided by LLM and the prior domain knowledge encoded in a Knowledge Graph (KG), enabling an agent to quickly adapt to new tasks. The robot also solicits and uses human input as needed to refine its existing knowledge. Based on experimental evaluation in the context of cooking and cleaning tasks in simulation domains, we demonstrate that the interplay between LLM, KG, and human input leads to substantial performance gains compared with just using the LLM. Project website1§Project supported in part by TCS Research India: https://sssshivvvv.github.io/adaptbot/

Assistive agents performing household tasks such as making the bed or cooking breakfast often compute and execute actions that accomplish one task at a time. However, efficiency can be improved by anticipating upcoming tasks and computing an action sequence that jointly achieves these tasks. State-of-the-art methods for task anticipation use data-driven deep networks and Large Language Models (LLMs), but they do so at the level of high-level tasks and/or require many training examples. Our framework leverages the generic knowledge of LLMs through a small number of prompts to perform high-level task anticipation, using the anticipated tasks as goals in a classical planning system to compute a sequence of finer-granularity actions that jointly achieve these goals. We ground and evaluate our framework’s abilities in realistic scenarios in the VirtualHome environment and demonstrate a 31% reduction in execution time compared with a system that does not consider upcoming tasks.