diff --git a/solo/cli.py b/solo/cli.py
index 78433d5..065eb87 100644
--- a/solo/cli.py
+++ b/solo/cli.py
@@ -1,6 +1,7 @@
 import typer
 from typing import Optional
 
+
 app = typer.Typer()
 
 # Lazy-loaded commands to improve CLI startup performance
@@ -183,6 +184,17 @@ def setup_usb_cmd(
     from solo.commands.setup_usb import setup_usb
     setup_usb(auto_confirm=yes)
 
+@app.command()
+def audit(
+    file_path: str = typer.Argument(..., help="Path to the .parquet dataset file"),
+    threshold: float = typer.Option(0.5, help="Jump magnitude limit for jerky movement"),
+    plot: bool = typer.Option(False, "--plot", "-p", help="Visualize the movement jumps"),
+):
+    """
+    Audit a robotics dataset for kinematic glitches and stability.
+    """
+    from .commands.audit import data as _audit
+    _audit(file_path=file_path, threshold=threshold, plot=plot)
 
 if __name__ == "__main__":
     app()
diff --git a/solo/commands/audit.py b/solo/commands/audit.py
new file mode 100644
index 0000000..132c3e8
--- /dev/null
+++ b/solo/commands/audit.py
@@ -0,0 +1,58 @@
+import pandas as pd
+import numpy as np
+from pathlib import Path
+from rich.console import Console
+import matplotlib.pyplot as plt
+
+console = Console()
+
+def data(file_path: str, threshold: float = 0.5, plot: bool = False):
+    file_ptr = Path(file_path)
+    
+    if not file_ptr.exists():
+        console.print(f"[red]❌ Error: File {file_path} not found![/red]")
+        return
+
+    console.print(f"[blue]🔍 Auditing {file_ptr.name}...[/blue]")
+
+    try:
+        df = pd.read_parquet(file_ptr)
+        # Assuming 'action' is the column with movement data
+        actions = np.stack(df['action'].values)
+        jumps = np.abs(np.diff(actions, axis=0))
+        # Take the maximum jump across all dimensions (x, y, z, etc.)
+        max_jumps_per_frame = jumps.max(axis=1)
+        absolute_max = max_jumps_per_frame.max()
+
+        console.print(f"✅ Loaded {len(df)} frames.")
+        console.print(f"📊 Sharpest movement: [bold]{absolute_max:.2f}[/bold]")
+
+        glitch_frame = np.argmax(max_jumps_per_frame)
+
+        if absolute_max > threshold:
+            console.print(f"[red]🚨 ALERT: Significant glitch detected at Frame {glitch_frame}![/red]")
+        else:
+            console.print("[green]✨ Data Quality: Smooth movement detected.[/green]")
+
+        # --- NEW PLOTTING LOGIC ---
+        if plot:
+            console.print("[yellow]📈 Generating visualization...[/yellow]")
+            plt.figure(figsize=(10, 5))
+            plt.plot(max_jumps_per_frame, label='Inter-frame Jump Magnitude', color='royalblue')
+            plt.axhline(y=threshold, color='red', linestyle='--', label='Threshold')
+            
+            if absolute_max > threshold:
+                plt.annotate(f'GLITCH @ {glitch_frame}', 
+                             xy=(glitch_frame, absolute_max), 
+                             xytext=(glitch_frame + 500, absolute_max),
+                             arrowprops=dict(facecolor='black', shrink=0.05))
+            
+            plt.title(f"Kinematic Audit: {file_ptr.name}")
+            plt.xlabel("Frame Index")
+            plt.ylabel("Jump Magnitude")
+            plt.legend()
+            plt.grid(alpha=0.3)
+            plt.show()
+
+    except Exception as e:
+        console.print(f"[red]❌ Logic Error: {e}[/red]")
\ No newline at end of file