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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🧠 Open Humnoid Actuated Face Dataset

Dataset Summary

The Open Humnoid Actuated Face Dataset has been created to support researchers and developers working on face-head actuated simulations for robotics, reinforcement learning, and human-computer interaction.
The data was collected during a reinforcement learning (RL) training process where the agent’s goal was to replicate human facial expressions using a humanoid head model.

The dataset pairs actuator angle positions with corresponding images of a humanoid face (modified i2Head InMoov with a silicon skin). The system consists of 16 actuators controlling facial regions and eyes.

Dataset Structure

Each data sample contains:

Actuated Angles:
- 16 actuator values representing positions/angles controlling the face and eyes.
Face Image:
- RGB image of the humanoid face (resolution: [FILL_RESOLUTION]) matching the actuator positions.
Actuator Position Images:
- Annotated actuator mapping images:
  - Full Face Actuator Map.
  - Eye Actuator Map.

Actuator Details

Index	Actuator	Index	Actuator
00	Cheek - Left	08	Eyelid Upper - Right
01	Cheek - Right	09	Eyelid Lower - Right
02	Eyeball Sideways - Left	10	Forehead - Right
03	Eyeball Up Down - Left	11	Forehead - Left
04	Eyelid Upper - Left	12	Upper Nose
05	Eyelid Lower - Left	13	Eyebrow - Right
06	Eyeball Up Down - Right	14	Jaw
07	Eyeball Sideways - Right	15	Eyebrow - Left

Actuator Mapping Images:

Full Face Actuator Map

Full Face Actuator Map Eye Actuator Map

Dataset Size

Total Samples: [FILL_NUMBER_OF_SAMPLES]
Splits: No predefined splits. However, users can load either the full dataset or a smaller subset using the provided configuration.

Usage

You can load either the full dataset or a small subset for quick experiments:

from datasets import load_dataset

# Load the small config (with actuated angles)
ds = load_dataset("./", name="small", data_dir=".")  # Ideally use repo ID

# push everything—including arrow files—to your hub repo
ds.push_to_hub("iamirulofficial/TestImageDataset")

Data Collection Method

Stay tuned — more details will be available in the upcoming paper describing the RL training process, actuator control policies, and data generation methodology.

License

This dataset is released under the MIT License.

Citation

If you use this dataset, please cite:

@misc{faceheadactuated2025,
  title = {Open Humnoid Actuated Face Dataset},
  author = {Your Name or Organization},
  year = {2025},
  url = {https://huggingface.co/datasets/YOUR_DATASET_PATH}
}

Acknowledgements

Special thanks to the team developing the i2Head InMoov platform and contributors to the silicon skin design.

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