Important note: this version V1 has path names that are long, hence sometimes the .zip file cannot be decompressed. If that happens, please refer to the updated V2, and download "ComorettoScience2025.zip" (same content, shorter path names). This dataset contains data and code to replicate the figures of the related article published in Science, May 8th (2025) Physical synchronization of soft self-oscillating limbs for fast and autonomous locomotion https://www.science.org/doi/10.1126/science.adr3661 Abstract: Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. Here, we introduce a rapid and autonomous locomotion strategy with synchronized gaits emerging through physical interactions between self-oscillating limbs and the environment, without control signals. Each limb is a single soft tube that only requires a constant flow of air to perform cyclic stepping motions at frequencies reaching 300 hertz. Physical synchronization of several of these self-oscillating limbs enables locomotion speeds that are orders of magnitude faster than those of comparable state-of-the-art robots. Through body-environment dynamics, these seemingly simple devices exhibit autonomy, including obstacle avoidance, amphibious gait transitions, and phototaxis. This replication package contains data acquired during the experiments and scripts used to process and visualize the data and to run the simulations (MATLAB, Python). The package also contains a movie with a step-by-step manufacturing guide to build your own self-oscillating limbs, as well as the STL files of the 3D-printed components required for the limbs and the robots. Further details and instructions are provided in the readme.txt file. Kindly contact the corresponding author for any queries.