Watch Miley Cyrus Cover The Flaming Lips' “Yoshimi Battles"

Miley Cyrus has made one of her dreams come true at last night’s Los Angeles stop of her ‘Bangerz Tour.’ The 21-year-old singer invited Wayne Coyne and Steven Drozd of The Flaming Lips to perform with her on a secondary stage located at the back of the Staples Center floor midway through her 22-song set on Saturday evening. Before introducing Coyne and Drozd, she shared:

“I hope I could inspire you guys as much as the Flaming Lips have inspired me and encouraged me to always be myself and to make music because I love it.”

After Coyne joked that he fucked up first take of the band’s 2002 number “Yoshimi Battles The Pink Robots Part 1,” and was still drunk from hanging out with 2 Chainz (and Peaking Lights) at the previous night’s show, Miley yelled “You guys don’t have any idea what the fuck is going on right now, do you?,” and performed the song for a second time in a row.

Another (sort of) notable highlight was Cyrus kissing with Katy Perry, who was following the show from the front row. Check out a shot of this kiss here in case you want to see it (of course, you do). And while you’re at it, watch Miley covering OutKast’s “Hey Ya.”