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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Apple Pick-and-Place with Corrections (Unitree G1) — LeRobot v3.0

Teleoperated manipulation dataset on a Unitree G1 humanoid (Dex1 parallel grippers, Unitree_G1_Dex1_UpperBody_2Cam): pick up a red or green apple and place it on a plate. 186 episodes / 28,994 frames @ 30 fps, two cameras (cam_head, cam_right_wrist).

Two task instructions (sent verbatim to the policy):

pick up the red apple and place it on the plate.
pick up the green apple and place it on the plate.

Correction / redirect demonstrations

Beyond clean pick-place episodes, the set includes pre-grasp redirect demonstrations: episodes that begin with the hand near one apple and demonstrate moving to, grasping, and placing the other apple. These are labeled with the FINAL target's standard instruction (not a special correction phrase), so a language switch issued mid-reach at deployment lands in-distribution. Redirect-start episodes were produced by trimming the initial reach-toward-the-wrong-object segment from the raw recordings (behavior cloning imitates everything — including demonstrated mistakes).

Formats

This repo: LeRobot v3.0 — used by the deployment/eval stack.
tysyuvraj/g1-apple2plate-lerobot-v21 — same data in LeRobot v2.1 (GR00T training format).

Trained policy

tysyuvraj/GR00T-N1.7-g1-apple2plate — GR00T N1.7 fine-tune (30k steps) on this data. Used as the manipulation policy supervised by a Qwen3-Omni-based anticipatory HRI monitor that can stop, redirect, or confirm completion in real time.

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