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README.md
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---
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license: other
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task_categories:
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- robotics
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- time-series-classification
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tags:
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- imu
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- emg
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- motion
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- physics
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- robotics
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- certification
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- open-x-embodiment
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size_categories:
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- 1K<n<10K
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---
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# S2S Certified Motion Dataset
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Physics-certified sensor data from real humans and robot teleoperation.
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Every record includes a physics score, tier, and which laws passed or failed.
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**First physics audit of Open-X Embodiment (RoboTurk) ever published.**
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## What Is S2S
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S2S applies 11 biomechanical physics laws to every sensor window — F=ma coupling, rigid-body kinematics, jerk bounds, Hurst persistence. No ML. No training. Equations true since Newton.
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## Contents
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| File | Dataset | Episodes | Windows |
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|------|---------|----------|---------|
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| roboturk_audit.json | RoboTurk (Open-X, Stanford) | 216 | 1,143 |
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| ninapro_audit.json | NinaPro DB5 (2000Hz forearm EMG) | 10 subjects | 9,552 |
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| nyu_rot_audit.json | NYU Rotation (Open-X) | 14 | 16 |
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## Key Findings
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**RoboTurk (human teleoperation):**
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- 78.1% pass rate (GOLD+SILVER)
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- Top failing law: `imu_internal_consistency` 32.4%
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- Finding: commanded rotation ≠ real gyroscope in smartphone teleoperation
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**NinaPro DB5 (real human IMU):**
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- 100% SILVER — all subjects certified as biological
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- Hurst H = 0.60–0.79 across all subjects
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## Reproduce
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```bash
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pip install s2s-certify
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git clone https://github.com/timbo4u1/S2S
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cd S2S && python3 certify_roboturk.py
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```
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## Citation
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DOI: 10.5281/zenodo.18878307
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GitHub: https://github.com/timbo4u1/S2S
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