Mar 17, 2026J/K move · Enter open · S save
Chang Nie, Tianchen Deng, Guangming Wang, Zhe Liu+1
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai 200240, China. · Department of Engineering, University of Cambridge, Cambridge, CB2 1TN, UK.
While recent Vision-Language-Action (VLA) models have begun to incorporate audio, they typically treat sound as static pre-execution prompts or focus exclusively on human speech. This leaves a significant gap in real-time, sound-centric manipulation where fleeting environmental acoustics provide critical state verification during task execution. Consequently, key sounds are easily missed due to low-frequency updates or system latency. This problem is exacerbated by action chunking with open-loop execution, which creates a Blind Execution Interval where acoustic events are lost between discrete audio observation windows. Recognizing the necessity of continuous auditory awareness, we formalize Vision-Sound-Language-Action (VSLA) as a continuous control paradigm conditioned on vision, streaming audio, language, and proprioception under delayed decision loops. As an instantiation, we introduce HEAR, a VSLA framework integrating four components: (i) a streaming Historizer to maintain a compact, causal audio context across execution gaps; (ii) an Envisioner adapted from omni foundation models to reason over multi-sensory inputs; (iii) an Advancer, formulated as an audio world model, to learn temporal dynamics by predicting near-future audio codes; and (iv) a flow-matching Realizer policy to generate smooth action chunks. To address the scarcity of pretraining data and evaluations for VSLA, we construct OpenX-Sound for pretraining, alongside HEAR-Bench, the first sound-centric manipulation benchmark with strict causal timing rules. Our results suggest that robust sound-centric manipulation necessitates causal persistence and explicit temporal learning. This framework provides a practical step toward multi-sensory foundation models for embodied agents, enabling robots to perceive and interact with dynamic environments. Code and videos are available at https://hear.irmv.top