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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": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 80,
"total_frames": 169510,
"total_tasks": 1,
"total_videos": 320,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:80"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
80
],
"names": [
"kLeftShoulderPitch_pos",
"kLeftShoulderRoll_pos",
"kLeftShoulderYaw_pos",
"kLeftElbow_pos",
"kLeftWristRoll_pos",
"kLeftWristPitch_pos",
"kLeftWristYaw_pos",
"kRightShoulderPitch_pos",
"kRightShoulderRoll_pos",
"kRightShoulderYaw_pos",
"kRightElbow_pos",
"kRightWristRoll_pos",
"kRightWristPitch_pos",
"kRightWristYaw_pos",
"kLeftHandThumb0_pos",
"kLeftHandThumb1_pos",
"kLeftHandThumb2_pos",
"kLeftHandMiddle0_pos",
"kLeftHandMiddle1_pos",
"kLeftHandIndex0_pos",
"kLeftHandIndex1_pos",
"kRightHandThumb0_pos",
"kRightHandThumb1_pos",
"kRightHandThumb2_pos",
"kRightHandIndex0_pos",
"kRightHandIndex1_pos",
"kRightHandMiddle0_pos",
"kRightHandMiddle1_pos",
"kLeftShoulderPitch_vel",
"kLeftShoulderRoll_vel",
"kLeftShoulderYaw_vel",
"kLeftElbow_vel",
"kLeftWristRoll_vel",
"kLeftWristPitch_vel",
"kLeftWristYaw_vel",
"kRightShoulderPitch_vel",
"kRightShoulderRoll_vel",
"kRightShoulderYaw_vel",
"kRightElbow_vel",
"kRightWristRoll_vel",
"kRightWristPitch_vel",
"kRightWristYaw_vel",
"kLeftHandThumb0_vel",
"kLeftHandThumb1_vel",
"kLeftHandThumb2_vel",
"kLeftHandMiddle0_vel",
"kLeftHandMiddle1_vel",
"kLeftHandIndex0_vel",
"kLeftHandIndex1_vel",
"kRightHandThumb0_vel",
"kRightHandThumb1_vel",
"kRightHandThumb2_vel",
"kRightHandIndex0_vel",
"kRightHandIndex1_vel",
"kRightHandMiddle0_vel",
"kRightHandMiddle1_vel",
"left_hand_pressure_0",
"left_hand_pressure_1",
"left_hand_pressure_2",
"right_hand_pressure_0",
"right_hand_pressure_1",
"right_hand_pressure_2"
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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