{"id":"https://openalex.org/W7138854267","doi":"https://doi.org/10.48550/arxiv.2603.16086","title":"Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation","display_name":"Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7138854267","doi":"https://doi.org/10.48550/arxiv.2603.16086"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.16086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.16086","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129898314","display_name":"Chang Nie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nie, Chang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130076073","display_name":"Tianchen Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Tianchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129895411","display_name":"Guangming Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guangming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129847959","display_name":"Zhe Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130002941","display_name":"Hesheng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hesheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.3407000005245209,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.3407000005245209,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.17010000348091125,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.08839999884366989,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6054999828338623},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5231999754905701},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3684999942779541},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.361299991607666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36000001430511475},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.32899999618530273}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6883000135421753},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6054999828338623},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5231999754905701},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5019999742507935},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4066999852657318},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3684999942779541},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C66024118","wikidata":"https://www.wikidata.org/wiki/Q1122506","display_name":"Computational model","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.16086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.16086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6515005826950073,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"recent":[1],"Vision-Language-Action":[2],"(VLA)":[3],"models":[4,144,230],"have":[5],"begun":[6],"to":[7,51,127,145,159,174,236],"incorporate":[8],"audio,":[9,103],"they":[10],"typically":[11],"treat":[12],"sound":[13],"as":[14,94,154],"static":[15],"pre-execution":[16],"prompts":[17],"or":[18,54],"focus":[19],"exclusively":[20],"on":[21,100],"human":[22],"speech.":[23],"This":[24,57,221],"leaves":[25],"a":[26,69,95,117,124,129,170,224],"significant":[27],"gap":[28],"in":[29],"real-time,":[30],"sound-centric":[31,199,212],"manipulation":[32,200,213],"where":[33,73],"fleeting":[34],"environmental":[35],"acoustics":[36],"provide":[37],"critical":[38],"state":[39],"verification":[40],"during":[41],"task":[42],"execution.":[43],"Consequently,":[44],"key":[45],"sounds":[46],"are":[47,76,246],"easily":[48],"missed":[49],"due":[50],"low-frequency":[52],"updates":[53],"system":[55],"latency.":[56],"problem":[58],"is":[59],"exacerbated":[60],"by":[61,163],"action":[62,177],"chunking":[63],"with":[64,202,240],"open-loop":[65],"execution,":[66],"which":[67],"creates":[68],"Blind":[70],"Execution":[71],"Interval":[72],"acoustic":[74],"events":[75],"lost":[77],"between":[78],"discrete":[79],"audio":[80,132,156,166],"observation":[81],"windows.":[82],"Recognizing":[83],"the":[84,181,197],"necessity":[85],"of":[86,183],"continuous":[87,96],"auditory":[88],"awareness,":[89],"we":[90,114,190],"formalize":[91],"Vision-Sound-Language-Action":[92],"(VSLA)":[93],"control":[97],"paradigm":[98],"conditioned":[99],"vision,":[101],"streaming":[102,125],"language,":[104],"and":[105,168,186,217,238,244],"proprioception":[106],"under":[107],"delayed":[108],"decision":[109],"loops.":[110],"As":[111],"an":[112,138,151,155],"instantiation,":[113],"introduce":[115],"HEAR,":[116],"VSLA":[118],"framework":[119,222],"integrating":[120],"four":[121],"components:":[122],"(i)":[123],"Historizer":[126],"maintain":[128],"compact,":[130],"causal":[131,204,215],"context":[133],"across":[134],"execution":[135],"gaps;":[136],"(ii)":[137],"Envisioner":[139],"adapted":[140],"from":[141],"omni":[142],"foundation":[143,229],"reason":[146],"over":[147],"multi-sensory":[148,228],"inputs;":[149],"(iii)":[150],"Advancer,":[152],"formulated":[153],"world":[157],"model,":[158],"learn":[160],"temporal":[161,219],"dynamics":[162],"predicting":[164],"near-future":[165],"codes;":[167],"(iv)":[169],"flow-matching":[171],"Realizer":[172],"policy":[173],"generate":[175],"smooth":[176],"chunks.":[178],"To":[179],"address":[180],"scarcity":[182],"pretraining":[184],"data":[185],"evaluations":[187],"for":[188,193,231],"VSLA,":[189],"construct":[191],"OpenX-Sound":[192],"pretraining,":[194],"alongside":[195],"HEAR-Bench,":[196],"first":[198],"benchmark":[201],"strict":[203],"timing":[205],"rules.":[206],"Our":[207],"results":[208],"suggest":[209],"that":[210],"robust":[211],"necessitates":[214],"persistence":[216],"explicit":[218],"learning.":[220],"provides":[223],"practical":[225],"step":[226],"toward":[227],"embodied":[232],"agents,":[233],"enabling":[234],"robots":[235],"perceive":[237],"interact":[239],"dynamic":[241],"environments.":[242],"Code":[243],"videos":[245],"available":[247],"at":[248],"https://hear.irmv.top.":[249]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}