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Rice-RobotPI-Lab/egoinfinity

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). 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 —… See the full description on the dataset page: https://huggingface.co/datasets/Rice-RobotPI-Lab/egoinfinity.

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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). 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:

FileDescription
input_viz.mp4Ego input visualization used by the retargeter
robot_sim.mp4Sim replay of the retargeted trajectory
trajectory.npzPer-frame q_left, q_right, finger joints, joint names, fps, clip id
torso_frames.npzPer-frame torso pose (R_per_frame, t_per_frame) plus anchor frame
metrics.npzIK 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.