Shake Bottle (Empty)
Active acoustic sensing, where perception depends on generating a repeatable motion that elicits a discriminative sound. The hidden state cannot be recovered passively; the robot must first create the evidence itself.
Why this task
The hidden state cannot be recovered passively; the robot must first create the evidence itself.
What it tests
Active acoustic sensing, where perception depends on generating a repeatable motion that elicits a discriminative sound.
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.