---
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