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LICENSE

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+MIT License
+
+Copyright (c) 2026 Rice University Intelligent Robotics & Manipulation Group
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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+The above copyright notice and this permission notice shall be included in all
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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+
+Note: this license covers only the frontend and tools code in this directory.
+The data assets exported by these tools (under _dist/ or pushed to HF Dataset)
+are derivative works of Action100M and are governed by the FAIR Noncommercial
+Research License v1 (see LICENSE-Action100M).

LICENSE-Action100M

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+FAIR Noncommercial Research License
+v1 Last Updated: October 16, 2024
+
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README.md

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+---
+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.

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+    "type": "youtube",
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+    "end_seconds": 809.81,
+    "url": "https://youtube.com/watch?v=--oo8_XIuOM&t=799",
+    "embed_blocked": false
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+  "action100m_metadata": {
+    "action_brief": "Insert stopper into cylinder",
+    "action_detailed": "Kneeling on the concrete, press the rubber stopper into the open top of the metal cylinder until it clicks into place.",
+    "actor": "Man in a blue plaid shirt and blue jeans",
+    "summary": "The man, wearing a blue plaid shirt and blue jeans, kneels on a leaf\u2011covered concrete platform outdoors; he first lifts a red coil spring and examines a black cylinder, then picks up a small red rubber stopper with a white centre, aligns it with the open end of the metal cylinder, and pushes it in until it clicks securely into place.",
+    "video_title": "How To Lower and Install Struts On A 2001-2005 Honda Civic",
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+    "favorited_at": "2026-05-09T19:05:44",
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+  "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
+}

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