Trace Shape Sequence

Language Instruction

Watch the red cube trace a sequence of shapes. When the lamp turns green, pick up the green cube and trace the same sequence in order. After finishing all shapes, press the button to submit your answer.

Task Description

Long-horizon demonstration imitation: watch and reproduce a sequence of traced shapes.

Source

• Module: mikasa_robo_suite.vla.memory_envs.trace_shape_seq_vla

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

Difficulty and Parameters

Sequence variants require retaining order and path geometry.

Variants

Env ID	Horizon	Data Source
TraceShapeSeqEasy-VLA-v0	1500	MP
TraceShapeSeqHard-VLA-v0	1500	MP
TraceShapeSeqMedium-VLA-v0	1500	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(
    "TraceShapeSeqEasy-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 TraceShapeSeqEasy-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 TraceShapeSeqEasy-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.