Empty typically describes a container, an empty box. The opposite is "full". Bare typically describes an uncovered surface, a bare hand. Also a word that relates would be a "barren" wasteland. An opposite of "bare" could be covered.

Empty is a synonym of bare. As adjectives the difference between empty and bare is that empty is devoid of content; containing nothing or nobody; vacant while bare is minimal; that is or are just sufficient. As verbs the difference between empty and bare is that empty is (ergative) to make empty; to void; to remove the contents of while bare is to uncover; to reveal or bare can be (obsolete) (bear). As nouns the difference between empty and bare is that empty is a container, especially a bottle, whose contents have been used up, leaving it empty while bare is the surface, the (bare) skin. As an adverb bare is (british|slang) very; significantly.

1) Of a person or the part of body uncloth or uncovered then we can use bare (e.g. a bare hand) 2) containing nothing and having no value or purpose and hungry then we can use empty (e.g. that container is empty . My stomach is empty.)

A pantry, where dry food is stored can be described as empty or bare. I believe this is because a pantry has surfaces that are typically covered however it is also a room, like a large container that can be empty or full.