Blink Count Button Press

Language Instruction

Count how many times the blue lamp blinks, press the red button exactly that many times when the red lamp turns green, then press the black button to submit your answer.

Task Description

Temporal counting: count blue-lamp blinks, wait for execution, press the red button exactly that many times, then submit.

Source

• Module: mikasa_robo_suite.vla.memory_envs.blink_count_button_press_vla

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

Difficulty and Parameters

Easy, Medium, Hard, and Long variants increase count range, delay, and total horizon.

Variants

Env ID	Horizon	Data Source
BlinkCountButtonPressEasy-Long-VLA-v0	1200	MP
BlinkCountButtonPressEasy-VLA-v0	150	MP
BlinkCountButtonPressHard-Long-VLA-v0	1200	MP
BlinkCountButtonPressHard-VLA-v0	300	MP
BlinkCountButtonPressMedium-Long-VLA-v0	1200	MP
BlinkCountButtonPressMedium-VLA-v0	200	MP

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(
    "BlinkCountButtonPressEasy-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 BlinkCountButtonPressEasy-VLA-v0 \
  --path-to-save-data data_mikasa_robo \
  --num-train-data 250 \
  --max-attempts 5000 \
  --seed 0

Render Videos

Generate a fresh MP4/GIF render with:

uv run python utils/prepare_benchmark_demo_videos.py \
  --tasks BlinkCountButtonPressEasy-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.