---
license: other
license_name: fair-noncommercial-research-license-v1
license_link: https://huggingface.co/datasets/Rice-RobotPI-Lab/egoinfinity/blob/main/LICENSE-Action100M
pretty_name: EgoInfinity (preview)
task_categories:
  - robotics
tags:
  - egocentric
  - imitation-learning
  - retargeting
  - manipulation
  - action100m
size_categories:
  - 1K<n<10K
---

# EgoInfinity (preview)

Derivative scene assets for a curated subset of Action100M (Meta FAIR) clips.

**Preview — not for general release.** Schema and contents may change.

## License

FAIR Noncommercial Research License v1 (see [LICENSE-Action100M](LICENSE-Action100M)). Noncommercial research only.

Built by the **Rice RobotPI Lab**.

## Retarget

For 104 of the clips under `samples/`, we provide retargeting results on four
robot embodiments under `samples/<clip>/retarget/<robot>/`:

- `franka` — Franka Panda (7-DoF arm + 1-DoF gripper)
- `g1` — Unitree G1 (7-DoF arm + 7-DoF hand)
- `robonaut2` — NASA Robonaut 2 (7-DoF arm + 18-DoF hand)
- `xlerobot` — XLeRobot (5-DoF arm + 1-DoF gripper)

Each `<robot>/` folder contains:

| File              | Description                                       |
|-------------------|---------------------------------------------------|
| `input_viz.mp4`   | Ego input visualization used by the retargeter    |
| `robot_sim.mp4`   | Sim replay of the retargeted trajectory           |
| `trajectory.npz`  | Per-frame `q_left`, `q_right`, finger joints, joint names, fps, clip id |
| `torso_frames.npz`| Per-frame torso pose (`R_per_frame`, `t_per_frame`) plus anchor frame |
| `metrics.npz`     | IK success rate, position/orientation error (per-frame, mean, converged-only), joint-limit margin, manipulability, roughness |

Per-clip frame counts range from 29 to 734; per-clip fps is recorded in
`trajectory.npz` (`fps` key) and is not uniform across clips.