# 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.

Source: https://hear.irmv.top/videos/real-alarm-clock/ · Language: en

## 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.

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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.