Here's a Kotlin solution. Add an OnOffsetChangedListener to the AppBarLayout.
Solution A:
Add AppBarStateChangeListener.kt to your project:
import com.google.android.material.appbar.AppBarLayout
import kotlin.math.abs
abstract class AppBarStateChangeListener : AppBarLayout.OnOffsetChangedListener {
    enum class State {
        EXPANDED, COLLAPSED, IDLE
    }
    private var mCurrentState = State.IDLE
    override fun onOffsetChanged(appBarLayout: AppBarLayout, i: Int) {
        if (i == 0 && mCurrentState != State.EXPANDED) {
            onStateChanged(appBarLayout, State.EXPANDED)
            mCurrentState = State.EXPANDED
        }
        else if (abs(i) >= appBarLayout.totalScrollRange && mCurrentState != State.COLLAPSED) {
            onStateChanged(appBarLayout, State.COLLAPSED)
            mCurrentState = State.COLLAPSED
        }
        else if (mCurrentState != State.IDLE) {
            onStateChanged(appBarLayout, State.IDLE)
            mCurrentState = State.IDLE
        }
    }
    abstract fun onStateChanged(
        appBarLayout: AppBarLayout?,
        state: State?
    )
}
Add the listener to your appBarLayout:
appBarLayout.addOnOffsetChangedListener(object: AppBarStateChangeListener() {
        override fun onStateChanged(appBarLayout: AppBarLayout?, state: State?) {
            Log.d("State", state.name)
            when(state) {
                State.COLLAPSED -> { /* Do something */ }
                State.EXPANDED -> { /* Do something */ }
                State.IDLE -> { /* Do something */ }
            }
        }
    }
)
Solution B:
appBarLayout.addOnOffsetChangedListener(AppBarLayout.OnOffsetChangedListener { appBarLayout, verticalOffset ->
        if (abs(verticalOffset) - appBarLayout.totalScrollRange == 0) { 
            // Collapsed
        } else if (verticalOffset == 0) {
            // Expanded
        } else {
            // Idle
        }
    }
)