Batteries Checker Easy

Language Instruction

Find all working batteries by inserting each one into the socket, observing the lamp result, and then pressing the button to confirm.

Task Description

Sequential verification: insert batteries into a socket, observe the lamp result, remember which batteries work, and press the confirmation button.

Source

• Module: mikasa_robo_suite.vla.memory_envs.batteries_checker_easy_vla

• Source file: mikasa_robo_suite/vla/memory_envs/batteries_checker_easy_vla.py

Difficulty and Parameters

Battery count controls memory load and horizon. Easy variants do not require returning each tested battery to its original slot.

Variants

Env ID	Horizon	Data Source
BatteriesCheckerEasy-12-VLA-v0	2160
BatteriesCheckerEasy-15-VLA-v0	2400
BatteriesCheckerEasy-3-VLA-v0	540	MP
BatteriesCheckerEasy-6-VLA-v0	1080	MP
BatteriesCheckerEasy-9-VLA-v0	1620

Run Example

import gymnasium as gym
import torch

import mikasa_robo_suite.vla.memory_envs  # registers VLA env IDs
from mikasa_robo_suite.vla.utils.apply_wrappers import apply_mikasa_vla_wrappers

env = gym.make(
    "BatteriesCheckerEasy-3-VLA-v0",
    num_envs=1,
    obs_mode="rgb",
    control_mode="pd_ee_delta_pose",
    render_mode="all",
)
env = apply_mikasa_vla_wrappers(env)
obs, info = env.reset(seed=42)
for _ in range(env.max_episode_steps):
    action = env.action_space.sample()
    if not torch.is_tensor(action):
        action = torch.as_tensor(action, device=env.unwrapped.device)
    obs, reward, terminated, truncated, info = env.step(action)
env.close()

Dataset Collection

Motion-planning MIKASA-Robo-90 variants use planner plus replay collection:

uv run python mikasa_robo_suite/vla/dataset_collectors/get_mikasa_robo_datasets_motion_planning.py \
  --env-id BatteriesCheckerEasy-3-VLA-v0 \
  --path-to-save-data data_mikasa_robo \
  --num-train-data 250 \
  --max-attempts 5000 \
  --seed 0

Additional local variants are useful for debugging or ablations. Report them separately from MIKASA-Robo-90 results.

Render Videos

Generate a fresh MP4/GIF render with:

uv run python utils/prepare_benchmark_demo_videos.py \
  --tasks BatteriesCheckerEasy-3-VLA-v0 \
  --output-dir videos/benchmark_demos \
  --max-attempts-per-task 8 \
  --overwrite

Generated media stays under videos/ and should be published deliberately rather than committed by default.