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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DuoBench LeRobot Dataset

This is the dataset collected for the FR3 Duo Benchmark DuoBench in LeRobot format ready for training. The dataset is a stripped down version from the raw dataset and only contains data required for VLA training. Checkout the raw dataset if you are interested e.g. in franka states (real) and sim states. The raw dataset repo also shows how to convert the data into this lerobot version.

Project page: https://duobench.github.io/ DuoBench Code: https://github.com/RobotControlStack/duobench

Citation

If you find this dataset or DuoBench useful for your work, please consider citing it:

@misc{duobench,
  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year={2026},
  url={https://arxiv.org/abs/2606.11901}
}

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Paper for RobotControlStack/duobench

DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World

Paper • 2606.11901 • Published Jun 10