Shell Game Shuffle Color Lamp Touch

Language Instruction

Observe which color is under each cup, track the cups as they shuffle, then touch the cup matching the lamp color.

Task Description

Hidden color-location tracking: track cup-color associations through shuffling and touch the lamp-matching cup.

Source

• Module: mikasa_robo_suite.vla.memory_envs.shell_game_shuffle_color_lamp_touch_vla

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

Difficulty and Parameters

Long variants increase shuffle and memory horizon.

Variants

Env ID	Horizon	Data Source
ShellGameShuffleColorLampTouch-Long-VLA-v0	600	MP
ShellGameShuffleColorLampTouch-VLA-v0	60	PPO

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(
    "ShellGameShuffleColorLampTouch-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

PPO-sourced MIKASA-Robo-90 variants use oracle checkpoints:

uv run python mikasa_robo_suite/vla/dataset_collectors/get_mikasa_robo_datasets.py \
  --env-id ShellGameShuffleColorLampTouch-VLA-v0 \
  --path-to-save-data data_mikasa_robo \
  --ckpt-dir . \
  --num-train-data 250

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 ShellGameShuffleColorLampTouch-Long-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 ShellGameShuffleColorLampTouch-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.