Chain Of Colors

Language Instruction

Observe which colored cubes appear during the cue, wait, then touch all of them in the same order as the cubes were shown and press the center button.

Task Description

Ordered sequence memory: observe colors in order, then touch the remembered colors in the same order before submission.

Source

• Module: mikasa_robo_suite.vla.memory_envs.chain_of_colors_vla

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

Difficulty and Parameters

Sequence length and Long variants increase order-memory difficulty.

Variants

Env ID	Horizon	Data Source
ChainOfColors3-Long-VLA-v0	800	MP
ChainOfColors3-VLA-v0	400	MP
ChainOfColors5-Long-VLA-v0	1000	MP
ChainOfColors5-VLA-v0	400	MP
ChainOfColors7-Long-VLA-v0	1200	MP
ChainOfColors7-VLA-v0	400	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(
    "ChainOfColors3-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 ChainOfColors3-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 ChainOfColors3-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.