Intelligent embodied agents should not simply follow instructions, as real-world environments often involve unexpected conditions and exceptions. However, existing methods usually focus on directly executing instructions, without considering whether the target objects can actually be manipulated, meaning they fail to assess available affordances. To address this limitation, we introduce DynAfford, a benchmark that evaluates embodied agents in dynamic environments where object affordances may change over time and are not specified in the instruction. DynAfford requires agents to perceive object states, infer implicit preconditions, and adapt their actions accordingly. To enable this capability, we introduce ADAPT (Affordance-Driven Adaptive Planning and Task execution), a plug-and-play module that augments existing planners with explicit affordance reasoning. Experiments demonstrate that incorporating ADAPT significantly improves robustness and task success across both seen and unseen environments. We also show that a domain-adapted, LoRA-finetuned vision-language model used as the affordance inference backend outperforms a commercial LLM (GPT-4o), highlighting the importance of task-aligned affordance grounding.

A dialogue dataset is an indispensable resource for building a dialogue system. Additional information like emotions and interpersonal relationships labeled on conversations enables the system to capture the emotion flow of the participants in the dialogue. However, there is no publicly available Chinese dialogue dataset with emotion and relation labels. In this paper, we collect the conversions from TV series scripts, and annotate emotion and interpersonal relationship labels on each utterance. This dataset contains 25,548 utterances from 4,142 dialogues. We also set up some experiments to observe the effects of the responded utterance on the current utterance, and the correlation between emotion and relation types in emotion and relation classification tasks.