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The JWT signature verification failed. Check the signing key and the algorithm.
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 failedNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 4930,
"total_frames": 218367,
"total_tasks": 13,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:4930"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"ee_x",
"ee_y",
"ee_z",
"ee_qw",
"ee_qx",
"ee_qy",
"ee_qz",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper_1",
"gripper_2"
],
"fps": 10
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_shoulder": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_shoulder_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_shoulder": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_shoulder_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.guide": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.guide_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
32
],
"names": [
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper"
],
"fps": 10
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
],
"fps": 10
},
"action.skill_id": {
"dtype": "int32",
"shape": [
1
],
"names": [
"skill_id"
],
"fps": 10
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 10
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
Citation
BibTeX:
[More Information Needed]
Native-dimension multispace actions
This revision adds joint, absolute quaternion, absolute rotation-6D, and base-frame delta action fields. Dataset tensors use native dimensions; model-side transforms are responsible for padding and masks. See meta/action_spaces.json and meta/verification_report.json. Global numeric stats were recomputed with LeRobot 0.6 recompute_stats on 48server; unchanged video stats were preserved from the source dataset.
Dataset data and episode-metadata parquet files use Snappy compression for browser visualizer compatibility.
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