Abstract: In one implementation, a method of changing a state of an object is performed at a device including an image sensor, one or more processors, and non-transitory memory. The method includes receiving a vocal command. The method includes obtaining, using the image sensor, an image of a physical environment. The method includes detecting, in the image of the physical environment, an object based on a visual model of the object stored in the non-transitory memory in association with an object identifier of the object. The method includes generating, based on the vocal command and detection of the object, an instruction including the object identifier of the object. The method includes effectuating the instruction to change a state of the object.