Batteries Checker Hard

Language Instruction

Find all working batteries by inserting each one into the socket, observing the lamp result, returning it from the socket to its initial slot, and then pressing the button to confirm.

Task Description

Hard sequential verification: test each battery, remember the result, return it to its slot, and submit the working set.

Source

• Module: mikasa_robo_suite.vla.memory_envs.batteries_checker_hard_vla

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

Difficulty and Parameters

Hard variants add return-to-slot manipulation and longer horizons on top of working-set memory.

Variants

Env ID	Horizon	Data Source
BatteriesCheckerHard-12-VLA-v0	4320
BatteriesCheckerHard-15-VLA-v0	4320
BatteriesCheckerHard-3-VLA-v0	1080	MP
BatteriesCheckerHard-6-VLA-v0	2160	MP
BatteriesCheckerHard-9-VLA-v0	3240

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(
    "BatteriesCheckerHard-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 BatteriesCheckerHard-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 BatteriesCheckerHard-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.