"ffmpeg -f concat" fails: Error applying bitstream filters to an output packet for stream #0: Invalid data found when processing input

[Yuri]

Summary of the bug:
How to reproduce:

1. Download several different YouTube videos using yt-dlp
2. List the resulting files in the file 'file.txt'
3. Run this command:

   $ ffmpeg -f concat -safe 0 -i files.txt -c copy ../output.mp4
   

It fails:

$ ffmpeg -f concat -safe 0 -i files.txt -c copy ../output.mp4
ffmpeg version 4.4.1 Copyright (c) 2000-2021 the FFmpeg developers
  built with FreeBSD clang version 11.0.1 (git@github.com:llvm/llvm-project.git llvmorg-11.0.1-0-g43ff75f2c3fe)
  configuration: --prefix=/usr/local --mandir=/usr/local/man --datadir=/usr/local/share/ffmpeg --pkgconfigdir=/usr/local/libdata/pkgconfig --disable-static --disable-libcelt --enable-shared --enable-pic --enable-gpl --enable-avresample --cc=cc --cxx=c++ --disable-alsa --disable-libopencore-amrnb --disable-libopencore-amrwb --enable-libaom --disable-libaribb24 --enable-asm --enable-libass --disable-libbs2b --disable-libcaca --disable-libcdio --disable-libcodec2 --enable-libdav1d --disable-libdavs2 --disable-libdc1394 --disable-debug --enable-htmlpages --enable-libdrm --disable-libfdk-aac --disable-libflite --enable-fontconfig --enable-libfreetype --enable-frei0r --disable-libfribidi --disable-gcrypt --disable-libglslang --disable-libgme --enable-gmp --enable-gnutls --enable-version3 --disable-libgsm --enable-iconv --disable-libilbc --disable-libjack --disable-libklvanc --disable-libkvazaar --disable-ladspa --enable-libmp3lame --disable-liblensfun --disable-libbluray --disable-librsvg --disable-librtmp --enable-libxml2 --disable-lto --disable-lv2 --disable-mbedtls --disable-libmfx --disable-libmodplug --disable-libmysofa --disable-nonfree --disable-openal --disable-opencl --disable-opengl --disable-libopenh264 --disable-libopenjpeg --disable-libopenmpt --disable-openssl --disable-libopenvino --enable-optimizations --enable-libopus --disable-pocketsphinx --disable-libpulse --disable-librabbitmq --disable-librav1e --disable-librist --enable-runtime-cpudetect --disable-librubberband --disable-sdl2 --disable-libsmbclient --disable-libsnappy --disable-sndio --disable-libsoxr --disable-libspeex --disable-libsrt --disable-libssh --disable-libtensorflow --disable-libtesseract --enable-libtheora --disable-libtwolame --disable-libuavs3d --enable-libv4l2 --enable-vaapi --disable-vapoursynth --enable-vdpau --disable-libvidstab --enable-libvmaf --enable-libvorbis --disable-libvo-amrwbenc --enable-libvpx --disable-vulkan --disable-libwebp --enable-libx264 --enable-libx265 --disable-libxavs2 --enable-libxcb --enable-libxvid --disable-outdev=xv --disable-libzimg --disable-libzmq --disable-libzvbi
  libavutil      56. 70.100 / 56. 70.100
  libavcodec     58.134.100 / 58.134.100
  libavformat    58. 76.100 / 58. 76.100
  libavdevice    58. 13.100 / 58. 13.100
  libavfilter     7.110.100 /  7.110.100
  libavresample   4.  0.  0 /  4.  0.  0
  libswscale      5.  9.100 /  5.  9.100
  libswresample   3.  9.100 /  3.  9.100
  libpostproc    55.  9.100 / 55.  9.100
Input #0, concat, from 'files.txt':
  Duration: N/A, start: 0.000000, bitrate: N/A
  Stream #0:0(eng): Video: vp9 (Profile 0), yuv420p(tv, smpte170m/unknown/unknown), 640x480, SAR 1:1 DAR 4:3, 29.97 fps, 29.97 tbr, 1k tbn, 1k tbc
    Metadata:
      DURATION        : 00:03:05.452000000
  Stream #0:1(eng): Audio: opus, 48000 Hz, stereo, fltp
    Metadata:
      DURATION        : 00:03:05.481000000
[mp4 @ 0x80646fc00] track 1: codec frame size is not set
Output #0, mp4, to '../output.mp4':
  Metadata:
    encoder         : Lavf58.76.100
  Stream #0:0(eng): Video: vp9 (Profile 0) (vp09 / 0x39307076), yuv420p(tv, smpte170m/unknown/unknown), 640x480 [SAR 1:1 DAR 4:3], q=2-31, 29.97 fps, 29.97 tbr, 16k tbn, 1k tbc
    Metadata:
      DURATION        : 00:03:05.452000000
  Stream #0:1(eng): Audio: opus (Opus / 0x7375704F), 48000 Hz, stereo, fltp
    Metadata:
      DURATION        : 00:03:05.481000000
Stream mapping:
  Stream #0:0 -> #0:0 (copy)
  Stream #0:1 -> #0:1 (copy)
Press [q] to stop, [?] for help
[mov,mp4,m4a,3gp,3g2,mj2 @ 0x80646f600] Auto-inserting h264_mp4toannexb bitstream filter 291x        
[vp9_superframe @ 0x806548100] Too many invisible frames
[mp4 @ 0x80646fc00] Error applying bitstream filters to an output packet for stream #0: Invalid data found when processing input
av_interleaved_write_frame(): Invalid data found when processing input
frame=11466 fps=10714 q=-1.0 Lsize=   32628kB time=00:06:22.34 bitrate= 699.1kbits/s speed= 357x    
video:26410kB audio:5874kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 1.065315%
Conversion failed!

[Balling]

Well, you obviously cannot concat AVC and VP9. You need to select youtube-dl -F, youtube-dl -f xxx format.