We present GRILLBot, an open-source multi-modal task-oriented voice assistant to help users perform complex tasks, focusing on the domains of cooking and home improvement. GRILLBot curates and leverages web information extraction to build coverage over a broad range of tasks for which a user can receive guidance. To represent each task, we propose TaskGraphs as a dynamic graph unifying steps, requirements, and curated domain knowledge enabling contextual question answering, and detailed explanations. Multi-modal elements play a key role in GRILLBot both helping the user navigate through the task and enriching the experience with helpful videos and images that are automatically linked throughout the task. We leverage a contextual neural semantic parser to enable flexible navigation when interacting with the system by jointly encoding stateful information with the conversation history. GRILLBot enables dynamic and adaptable task planning and assistance for complex tasks by combining elements of task representations that incorporate text and structure, combined with neural models for search, question answering, and dialogue state management. GRILLBot competed in the Alexa prize TaskBot Challenge as one of the finalists.