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VLAC-Cut-FullData

Tags:
robotics
video-progress
benchmark
embodied-ai
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Error code:   JWTInvalidSignature
Exception:    InvalidSignatureError
Message:      Signature verification failed
Traceback:    Traceback (most recent call last):
                File "/src/libs/libapi/src/libapi/jwt_token.py", line 286, in validate_jwt
                  decoded = jwt.decode(
                      jwt=token,
                  ...<2 lines>...
                      options=options,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 368, in decode
                  decoded = self.decode_complete(
                      jwt,
                  ...<8 lines>...
                      leeway=leeway,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jwt.py", line 265, in decode_complete
                  decoded = self._jws.decode_complete(
                      jwt,
                  ...<3 lines>...
                      detached_payload=detached_payload,
                  )
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 270, in decode_complete
                  self._verify_signature(
                  ~~~~~~~~~~~~~~~~~~~~~~^
                      signing_input,
                      ^^^^^^^^^^^^^^
                  ...<4 lines>...
                      options=merged_options,
                      ^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/jwt/api_jws.py", line 417, in _verify_signature
                  raise InvalidSignatureError("Signature verification failed")
              jwt.exceptions.InvalidSignatureError: Signature verification failed

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VLAC-Cut-FullData

VLAC-Cut-FullData is the full-data release for VLAC-Cut. It provides the complete raw-data archive set, benchmark-style JSON files, and a lightweight frame-extraction workflow for reproducing evaluation on the released benchmark protocol.

Contents 

benchmark_style_all/
  train/video_progress_benchmark_file.json
  test_expert_seen/video_progress_benchmark_file.json
  test_expert_unseen/video_progress_benchmark_file.json
  test_nonexpert_seen/video_progress_benchmark_file.json
  test_nonexpert_unseen/video_progress_benchmark_file.json
  all/video_progress_benchmark_file.json

scripts/
  unpack_data.sh
  extract_vlac2_release_frames.py

annotation_files_raw/
  0106/
  0109/
  0116/
  1231/
  dataset_ver/
  hfx_project-1/
  refine_data/

data/
  vlac2_release_data_part01_arx_group_a.tar.zst.part-*
  vlac2_release_data_part02_arx_group_b.tar.zst.part-*
  vlac2_release_data_part03_arx_group_c.tar.zst.part-*
  vlac2_release_data_part04_droid_group_a.tar.zst.part-*
  vlac2_release_data_part05_droid_group_b.tar.zst.part-*
  vlac2_release_data_part06_droid_group_c.tar.zst.part-*
  vlac2_release_data_part07_other_sources.tar.zst

Usage

1. Unpack the raw-data archives 

bash scripts/unpack_data.sh /path/to/data

Several large archives are distributed as multi-part files to satisfy Hub file-size limits. unpack_data.sh detects these parts automatically and streams them into a single extraction pass.

2. Extract frames

To extract frames only for one or more selected benchmark JSON files:

python scripts/extract_vlac2_release_frames.py \
  --data-root /path/to/data \
  --frames-root /path/to/data_extracted_frames \
  --benchmark-json benchmark_style_all/test_expert_seen/video_progress_benchmark_file.json

This decodes only the episodes referenced by the provided benchmark JSON file(s), rather than scanning the full raw-data release.

If --benchmark-json is omitted, the extractor scans all benchmark JSON files under benchmark_style_all/, collects all referenced records, and extracts the corresponding main_path videos:

python scripts/extract_vlac2_release_frames.py \
  --data-root /path/to/data \
  --frames-root /path/to/data_extracted_frames

3. Use the benchmark JSON files

Frame paths in the benchmark JSON files use the prefix:

__VLAC2_FRAMES_ROOT__/

Replace __VLAC2_FRAMES_ROOT__ with the absolute path to the extracted-frame directory.

Notes

  • This release contains the complete raw-data archive set used by the VLAC-Cut benchmark release workflow.
  • annotation_files_raw/ mirrors the original raw annotation JSON tree used during benchmark construction.
  • The benchmark_style_all/all split is larger than the benchmark evaluation subsets and is rebuilt from the full annotation PKL source tree.
  • The benchmark JSON files are pre-generated and do not need to be rebuilt for standard use.
  • The large raw-data archives are distributed as split .part-* files in data/; these are unpacked transparently by the provided script.
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