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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Isaaclab So101 Push Cube Basecap 100Epi 10Fps

LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.

Tasks: 71

Tasks

Push the red cube to the purple target marker without picking it up.
Push the black cube to the orange target marker without picking it up.
Push the lime cube to the cyan target marker without picking it up.
Push the red cube to the orange target marker without picking it up.
Push the red cube to the pink target marker without picking it up.
Push the lime cube to the blue target marker without picking it up.
Push the lime cube to the black target marker without picking it up.
Push the yellow cube to the black target marker without picking it up.
Push the orange cube to the gray target marker without picking it up.
Push the purple cube to the green target marker without picking it up.
Push the orange cube to the red target marker without picking it up.
Push the green cube to the pink target marker without picking it up.
Push the green cube to the yellow target marker without picking it up.
Push the red cube to the lime target marker without picking it up.
Push the pink cube to the lime target marker without picking it up.
Push the lime cube to the red target marker without picking it up.
Push the cyan cube to the black target marker without picking it up.
Push the gray cube to the orange target marker without picking it up.
Push the purple cube to the black target marker without picking it up.
Push the purple cube to the red target marker without picking it up.
Push the orange cube to the blue target marker without picking it up.
Push the yellow cube to the red target marker without picking it up.
Push the pink cube to the blue target marker without picking it up.
Push the red cube to the gray target marker without picking it up.
Push the orange cube to the lime target marker without picking it up.
Push the pink cube to the red target marker without picking it up.
Push the yellow cube to the gray target marker without picking it up.
Push the gray cube to the lime target marker without picking it up.
Push the blue cube to the orange target marker without picking it up.
Push the green cube to the gray target marker without picking it up.
Push the cyan cube to the orange target marker without picking it up.
Push the purple cube to the blue target marker without picking it up.
Push the blue cube to the pink target marker without picking it up.
Push the black cube to the blue target marker without picking it up.
Push the cyan cube to the blue target marker without picking it up.
Push the blue cube to the purple target marker without picking it up.
Push the black cube to the red target marker without picking it up.
Push the green cube to the cyan target marker without picking it up.
Push the red cube to the black target marker without picking it up.
Push the green cube to the orange target marker without picking it up.
Push the black cube to the green target marker without picking it up.
Push the blue cube to the black target marker without picking it up.
Push the cyan cube to the gray target marker without picking it up.
Push the purple cube to the pink target marker without picking it up.
Push the blue cube to the cyan target marker without picking it up.
Push the pink cube to the yellow target marker without picking it up.
Push the blue cube to the lime target marker without picking it up.
Push the red cube to the green target marker without picking it up.
Push the black cube to the pink target marker without picking it up.
Push the green cube to the black target marker without picking it up.
Push the green cube to the red target marker without picking it up.
Push the orange cube to the cyan target marker without picking it up.
Push the cyan cube to the yellow target marker without picking it up.
Push the green cube to the purple target marker without picking it up.
Push the yellow cube to the blue target marker without picking it up.
Push the lime cube to the gray target marker without picking it up.
Push the black cube to the yellow target marker without picking it up.
Push the yellow cube to the lime target marker without picking it up.
Push the pink cube to the gray target marker without picking it up.
Push the gray cube to the purple target marker without picking it up.
Push the gray cube to the green target marker without picking it up.
Push the lime cube to the green target marker without picking it up.
Push the orange cube to the yellow target marker without picking it up.
Push the yellow cube to the green target marker without picking it up.
Push the purple cube to the gray target marker without picking it up.
Push the gray cube to the yellow target marker without picking it up.
Push the green cube to the lime target marker without picking it up.
Push the purple cube to the orange target marker without picking it up.
Push the red cube to the yellow target marker without picking it up.
Push the purple cube to the yellow target marker without picking it up.
Push the orange cube to the purple target marker without picking it up.

Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (23,646 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language and subtask.* columns (labeled by Gemini)

Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.

Downloads last month: 32

Total file size:

153 MB

Models trained or fine-tuned on Cache-SCA/IsaacLab-SO101_push_cube_baseCaP_100epi_10fps

Cache-SCA/Gr00t_BaseCaP_Sim_push_cube_100ep_vision_encoder_final

Robotics • 3B • Updated May 31 • 10