Tender houseplants and tropicals — Boston ferns, fiddle leaf figs, plumeria, etc. — that were accidentally left exposed are unlikely to recover.
Some rosemary varieties are more cold-hardy than others. Tuscan Blue, Barbeque, and Huntington Carpet are all for zones 8-10 and will have suffered more damage than varieties like Arp, Hill Hardy, or Blue Spires which can grow in Zone 6. Wait a couple of weeks to assess the damage.
If only the tips were hit, you could shear the plant back and it can recover. However, if the damage is deeper into the plant, it may need to be replaced. Rosemary rarely pushes new growth through its tough, woody old growth stems, and a mature plant will struggle to recover from extensive damage.
Esperanza, or Yellow Bells, forms woody stems but should be cut all the way to the ground whether or not we have a freeze. If the plant was sufficiently protected it may still return from the roots.
Remember liquid seaweed is a great tonic for plants. It helps plants recover from a wide range of stresses, including cold damage, transplant shock, heat stress, and more! Give your plants a dose to help them bounce back sooner!