A system for retrieving information from an instructional document, includes a processor configured to: receive a query from a user; compare the query with one or more text sections in the instructional document; obtain, from the one or more text sections, top x text sections relevant to the query using a pre-trained encoder; compare the query with one or more images in the instructional document; obtain, from the images, top y images relevant to the query; generate top y image-text sections based on the top y images; obtain top k sections from the top x text sections and the top y image-text sections; obtain one or more most relevant sections from the top k sections using a domain-specific pre-trained encoder and a sequential classification model; and generate an answer based on the one or more most relevant sections and device context information using the domain-specific pre-trained encoder.