Step-by-step explanation:
We know that the action verbs are the verbs that express what sentence is doing or going to do or has done. The actions can be mental or physical. These verbs are basically used to add an impact on the purpose of the action of the sentence.
The given sentence is, Today I heard my favorite song twice on the radio . In this sentence “heard” is the action verb of the sentence as in this sentence the action performed was hearing the song in the radio.