https://hear.irmv.top/static/images/headpic.webp 2026-09-16 https://hear.irmv.top/static/images/headpic.webp HEAR framework for Vision-Sound-Language-Action sound-centric robot manipulation HEAR reframes robot manipulation from a vision-dominant setting into a sound-causal one. https://hear.irmv.top/static/images/overview.webp 2026-09-16 https://hear.irmv.top/static/images/overview.webp HEAR architecture overview: Historizer, Envisioner, Advancer and Realizer HEAR processes streaming audio, reasons over multi-sensory context, learns temporal progression, and produces smooth action chunks. https://hear.irmv.top/static/images/Historizer.webp 2026-09-16 https://hear.irmv.top/static/images/Historizer.webp Historizer: streaming causal audio memory across the Blind Execution Interval A streaming stateful transformer maintaining compact causal audio memory across execution gaps. https://hear.irmv.top/static/images/Envisioner.webp 2026-09-16 https://hear.irmv.top/static/images/Envisioner.webp Envisioner: hierarchical omni-modal reasoning for VLA control Fuses vision, language, proprioception, the current audio window and causal audio memory. https://hear.irmv.top/static/images/Advancer.webp 2026-09-16 https://hear.irmv.top/static/images/Advancer.webp Advancer: audio world model predicting near-future audio codes An audio world model that injects temporal grounding by predicting near-future audio codes. https://hear.irmv.top/static/images/posters/moka-coffee.jpg 2026-09-16 https://hear.irmv.top/static/images/posters/moka-coffee.jpg HEAR real-robot demonstration: Moka Coffee Long-horizon sound-centric process monitoring: the robot must detect the transition into the sputtering phase before pouring. https://hear.irmv.top/static/images/posters/answer-phone.jpg 2026-09-16 https://hear.irmv.top/static/images/posters/answer-phone.jpg HEAR real-robot demonstration: Answer Phone Multi-stage progress tracking with ring detection, speech understanding and end-of-call recognition under severe visual aliasing. https://hear.irmv.top/static/images/posters/shake-bottle-empty.jpg 2026-09-16 https://hear.irmv.top/static/images/posters/shake-bottle-empty.jpg HEAR real-robot demonstration: Shake Bottle (Empty) Active acoustic sensing, where perception depends on generating a repeatable motion that elicits a discriminative sound. https://hear.irmv.top/static/images/posters/shake-bottle-occupied.jpg 2026-09-16 https://hear.irmv.top/static/images/posters/shake-bottle-occupied.jpg HEAR real-robot demonstration: Shake Bottle (Occupied) Whether the policy can use self-generated rattling sound to distinguish occupied from empty bottles consistently across trials. https://hear.irmv.top/static/images/posters/real-alarm-clock.jpg 2026-09-16 https://hear.irmv.top/static/images/posters/real-alarm-clock.jpg HEAR real-robot demonstration: Real Alarm Clock Whether the model remains sound-causal under real acoustic domain shift and still avoids the visually tempting early press.