# 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.

Source: https://hear.irmv.top/videos/moka-coffee/ · Language: en

## 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.

---

Chang Nie, Tianchen Deng, Guangming Wang, Zhe Liu and Hesheng Wang, “Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation”, The International Journal of Robotics Research, 2026. arXiv:2603.16086.