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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tv-task2-clean-aug1_illumination

LeRobot v3 dataset for banana pick-and-place with a SO-101 robot arm.
Built for Vision-Language-Action (VLA / SmolVLA) training.

Dataset summary

Property	Value
Episodes	1 184
Frames	139 368
FPS	10
Task prompts	33
Robot	SO-101 (so_follower)
Camera	Front (480 × 640, AV1)
Action space	6-DoF joint positions
Format	LeRobot v3.0

Construction

Base: ETHrobotlearning/tv-task2-clean-aug1 (592 episodes, trimmed of idle boundary frames).
Each episode is paired with one illumination-augmented copy (brightness ~ Uniform(0.7, 1.2), seed 42), doubling the dataset to 1 184 episodes.

Task prompts (33)

The dataset covers four referring styles:

Color (direct)

Put the banana in the red / green / blue bowl.
Put the banana in the red / green / blue colored bowl.
Place the banana in the red / green / blue bowl.
Move the banana to the red / green / blue colored bowl.

Color (negation)

Put the banana into the bowl that is not red and not blue.
Put the banana into the bowl that is not red and not green.
Put the banana into the bowl that is not green and not blue.

Ordinal (robot perspective)

Put the banana into the 1st / 2nd / 3rd bowl from the left from the robot perspective.
Put the banana into the left / center / right bowl from the robot perspective.
Put the banana into the leftmost / rightmost / middle bowl from the robot perspective.

Relative position (robot perspective)

Put the banana into the bowl on the left / right of the red bowl from the robot perspective.
Put the banana into the bowl on the left / right of the green bowl from the robot perspective.
Put the banana into the bowl on the left / right of the blue bowl from the robot perspective.
Put the banana into the bowl between the blue bowl and the green bowl.
Put the banana into the bowl between the blue bowl and the red bowl.
Put the banana into the bowl between the red bowl and the green bowl.

Features

Feature	Type	Shape
`action`	float32	(6,) — joint positions
`observation.state`	float32	(6,) — joint positions
`observation.images.front`	video (AV1)	480 × 640 × 3
`timestamp`	float32	(1,)
`frame_index`	int64	(1,)
`episode_index`	int64	(1,)
`index`	int64	(1,)
`task_index`	int64	(1,)

Visualization

Browse episodes interactively using the LeRobot visualizer:

For local exploration with tracelr:

huggingface-cli download --repo-type dataset ETHrobotlearning/tv-task2-clean-aug1_illumination --local-dir ./dataset
cargo run --profile opt-dev -- ./dataset

SmolVLA compatibility

lerobot-doctor gate ETHrobotlearning/tv-task2-clean-aug1_illumination --policy smolvla

Downloads last month: 46

Total file size:

37.6 MB

Models trained or fine-tuned on ETHrobotlearning/tv-task2-clean-aug1_illumination-fixed