# Shake Bottle (Occupied)

> Whether the policy can use self-generated rattling sound to distinguish occupied from empty bottles consistently across trials. The companion case showing the same active sensing behaviour under a different hidden physical state.

Source: https://hear.irmv.top/videos/shake-bottle-occupied/ · Language: en

## Why this task

The companion case showing the same active sensing behaviour under a different hidden physical state.

## What it tests

Whether the policy can use self-generated rattling sound to distinguish occupied from empty bottles consistently across trials.

## 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.