Consider the map $\mathbb{R}\mapsto\mathbb{R}^2,g\mapsto g.x$, where $x$ is any point on the figure eight. The image of this map is orbit of $x$, i.e. the figure eight. Consider the stabilisator of $x$, which is a subgroup of $\mathbb{R}$, so it is either dense or a multiple of $\mathbb{Z}$. It can't be dense, for otherwise the action would be trivial by continuity, but the orbit isn't a singleton.
If the stabilistaor is a non-zero multiple of $\mathbb{Z}$, the map descends to a continuous bijection from $\mathbb{R}/r\mathbb{Z}$ to the figure eight. But the quotient is compact, so this is a…