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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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1---2license: other3license_name: fair-noncommercial-research-license-v14license_link: https://huggingface.co/datasets/Rice-RobotPI-Lab/egoinfinity/blob/main/LICENSE-Action100M5pretty_name: EgoInfinity (preview)6task_categories:7  - robotics8tags:9  - egocentric10  - imitation-learning11  - retargeting12  - manipulation13  - action100m14size_categories:15  - 1K<n<10K16---17 18# EgoInfinity (preview)19 20Derivative scene assets for a curated subset of Action100M (Meta FAIR) clips.21 22**Preview — not for general release.** Schema and contents may change.23 24## License25 26FAIR Noncommercial Research License v1 (see [LICENSE-Action100M](LICENSE-Action100M)). Noncommercial research only.27 28Built by the **Rice RobotPI Lab**.29 30## Retarget31 32For 104 of the clips under `samples/`, we provide retargeting results on four33robot embodiments under `samples/<clip>/retarget/<robot>/`:34 35- `franka` — Franka Panda (7-DoF arm + 1-DoF gripper)36- `g1` — Unitree G1 (7-DoF arm + 7-DoF hand)37- `robonaut2` — NASA Robonaut 2 (7-DoF arm + 18-DoF hand)38- `xlerobot` — XLeRobot (5-DoF arm + 1-DoF gripper)39 40Each `<robot>/` folder contains:41 42| File              | Description                                       |43|-------------------|---------------------------------------------------|44| `input_viz.mp4`   | Ego input visualization used by the retargeter    |45| `robot_sim.mp4`   | Sim replay of the retargeted trajectory           |46| `trajectory.npz`  | Per-frame `q_left`, `q_right`, finger joints, joint names, fps, clip id |47| `torso_frames.npz`| Per-frame torso pose (`R_per_frame`, `t_per_frame`) plus anchor frame |48| `metrics.npz`     | IK success rate, position/orientation error (per-frame, mean, converged-only), joint-limit margin, manipulability, roughness |49 50Per-clip frame counts range from 29 to 734; per-clip fps is recorded in51`trajectory.npz` (`fps` key) and is not uniform across clips.52