| license: other | |
| task_categories: | |
| - robotics | |
| tags: | |
| - imu | |
| - emg | |
| - motion | |
| - physics | |
| - robotics | |
| - certification | |
| - open-x-embodiment | |
| size_categories: | |
| - 1K<n<10K | |
| # 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 | |
| ```bash | |
| pip install s2s-certify | |
| git clone https://github.com/timbo4u1/S2S | |
| cd S2S && python3 certify_roboturk.py | |
| ``` | |
| ## Citation | |
| DOI: [10.5281/zenodo.18878307](https://doi.org/10.5281/zenodo.18878307) | |
| GitHub: https://github.com/timbo4u1/S2S | |