Transititive auxiliary verbs are about perceiving someone else (a direct object?) doing something.
Transitive auxiliary verbs are always followed by a direct object and an infinitive.
The transitive auxiliary verbs are:
||Ik hoor jou piano spelen.
||I can hear you playing the piano.
||Ik vind hem mooi zingen.
||I find him sing well (lit).
||Ik voel de make-up zitten.
||I can feel the make up ('sit').
||Hij zag haar over straat lopen.
||He saw her walking in the street.
The verb that follows after the auxiliary verb is in fact not part of the act of the subject, but it is the act of the direct object (jou, hem, de make-up, and haar).