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Datasets:
Scan2s
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s2s-certified-motion

Tasks:
Robotics
Size:
1K<n<10K
Tags:
imu
emg
motion
physics
robotics
certification
License:
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The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 91, in _split_generators
                  pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 193, in _generate_tables
                  examples = [ujson_loads(line) for line in batch.splitlines()]
                              ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 20, in ujson_loads
                  return pd.io.json.ujson_loads(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
              ValueError: Expected object or value
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

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S2S Certified Motion Dataset

Physics-certified sensor data from real humans and robot teleoperation. Every record includes a physics score, tier, and which laws passed or failed.

First physics audit of Open-X Embodiment (RoboTurk) ever published.

Contents

File Dataset Episodes Windows
roboturk_audit.json RoboTurk (Open-X, Stanford) 216 1,143
ninapro_audit.json NinaPro DB5 (2000Hz forearm EMG) 10 subjects 9,552

Key Findings

RoboTurk — 216 human-teleoperated episodes:

  • 78.1% pass rate (GOLD+SILVER)
  • Top failing law: imu_internal_consistency 32.4%
  • Finding: commanded rotation ≠ real gyroscope in smartphone teleoperation interface

NinaPro DB5 — real human IMU 2000Hz:

  • 100% SILVER — all 10 subjects certified biological
  • Hurst H = 0.60–0.79

Reproduce 

pip install s2s-certify
git clone https://github.com/timbo4u1/S2S
cd S2S && python3 certify_roboturk.py

Citation

DOI: 10.5281/zenodo.18878307 GitHub: https://github.com/timbo4u1/S2S
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