Despite the recognized importance of bodily movements in spatial audition, few studies have integrated action-based protocols with spatial hearing in the peripersonal space. Recent work shows that tactile feedback and active exploration allow participants to improve performance in auditory distance perception tasks. However, the role of the different aspects involved in the learning phase, such as voluntary control of movement, proprioceptive cues, and the possibility of self-correcting errors, is still unclear. We study the effect of guided reaching exploration on perceptual (...) learning of auditory distance in peripersonal space. We implemented a pretest-posttest experimental design in which blindfolded participants must reach for a sound source located in this region. They were divided into three groups that were differentiated by the intermediate training phase: Guided, an experimenter guides the participant’s arm to contact the sound source; Active, the participant freely explores the space until contacting the source; and Control, without tactile feedback. The effects of exploration feedback on auditory distance perception in the peripersonal space are heterogeneous. Both the Guided and Active groups change their performance. However, participants in the Guided group tended to overestimate distances more than those in the Active group. The response error of the Guided group corresponds to a generalized calibration criterion over the entire range of reachable distances. Whereas the Active group made different adjustments for proximal and distal positions. The results suggest that guided exploration can induce changes on the boundary of the auditory reachable space. We postulate that aspects of agency such as initiation, control, and monitoring of movement, assume different degrees of involvement in both guided and active tasks, reinforcing a non-binary approach to the question of activity-passivity in perceptual learning and supporting a complex view of the phenomena involved in action-based learning. (shrink)