Real Alarm Clock
Whether the model remains sound-causal under real acoustic domain shift and still avoids the visually tempting early press. The simulation alarm setting transferred into the physical world, where reverberation and background chatter distort the cue.
Why this task
The simulation alarm setting transferred into the physical world, where reverberation and background chatter distort the cue.
What it tests
Whether the model remains sound-causal under real acoustic domain shift and still avoids the visually tempting early press.
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.