Miley Cyrus kisses Katy Perry and duets with The Flaming Lips during Bangerz tour

The ridiculous antics continue as Cyrus enters the second week of her tour

Miley Cyrus' Bangerz tour hit new heights when she was joined by The Flaming Lips on Saturday night (Getty Images)

In what must be one of the most surreal collaborations of recent times, Miley Cyrus was joined on-stage on Saturday by none other than The Flaming Lips for a rendition of their 2002 hit, "Yoshimi Battles the Pink Robots Part 1".

Wayne Coyne and Steven Drozd of the Lips appeared at the Staples Center gig in Los Angeles on the 30th anniversary of their first live show in 1983 to perform the song not once, but twice.

Cyrus wore nothing but a long T-shirt printed with her own face (tongue sticking out, naturally), while Drozd decked himself out in a bright red cape.

"I'm so f**king exciting, I don’t think you guys understand what this means right now. F**k yes!" Cyrus reportedly told the audience.

Keen to relive the experience immediately, the 21-year old then shouted “Let’s do it again!” and do it again they did.

The “Wrecking Ball” singer is a long-time fan of The Flaming Lips and Coyne has previously voiced his admiration for her too.

In a 2013 interview with Rolling Stone, he said: "I like her aesthetic more than a Lady Gaga, who this year to me feels like, ‘Take me serious’, and Miley’s like, ‘I don’t give a f**k’, which to me is always a lot more fun.

"I really like that thing where the people are inside the rainbow and they walk around. I just like that sort of stuff."

The 21-year-old has so far covered Dolly Parton’s “Jolene” and Outkast’s “Hey Ya” on her Bangerz world tour, which she kickstarted in Vancouver on Valentine’s Day in a glitzy cannabis leaf leotard.

The energetic duet was not the only memorable happening over the Bangerz weekend. During her performance of “Adore You” (the one where she simulates masturbation in the video), Cyrus shared a kiss with fellow pop star Katy Perry, who was watching from the front row.

“I don’t know if you know this, but tongue is really appreciated at a Miley Cyrus show,” she shrieked, according to Billboard. “I just kissed a girl and I really liked it a lot!”

Miley Cyrus kissed Katy Perry and liked it (Instagram: tylerogers)

Last week, concert promoter Live Nation denied reports that the Bangerz tour was under threat of cancellation following a flood of complaints from parents, particularly during “Party of the USA” in which she “does a Monica Lewinsky” and simulates oral sex with a Bill Clinton impersonator.

“There is no truth whatsoever to any stories or rumours of venues pulling out of the Bangerz tour,” a statement read. “Miley has created a tour that’s big, spectacular, entertaining and everything you would expect from Miley Cyrus. Reviews have been amazing and most important, fans are loving the show and having a great time.”

Cyrus also tweeted a retort to those criticising the controversial nature of her performances, including a picture of her strutting towards a “Parental Advisory Explicit Content” sign.