Moka Coffee
Long-horizon sound-centric process monitoring: the robot must detect the transition into the sputtering phase before pouring. A traditional Moka pot offers almost no clean visual completion signal, so progress must be inferred from sound.
Why this task
A traditional Moka pot offers almost no clean visual completion signal, so progress must be inferred from sound.
What it tests
Long-horizon sound-centric process monitoring: the robot must detect the transition into the sputtering phase before pouring.
Context
Part of the real-robot evaluation of the HEAR framework, in which the primary metric is the sound-causal success rate: a trial counts as successful only if the robot completes the physical goal after the relevant acoustic condition has occurred. Reaching the goal early is recorded as a failure. All tasks were run on a Franka Panda with a single ambient workspace microphone and two RGB views.