I don’t know if such a thing exists. What you need is a plugin that will do the infinite scroll and allow you to choose a custom template for outputting the results.
Short of that you’d need to write your own script to detect when the user scrolls near the bottom of the page an make an AJAX call to get the next results. The best information on using AJAX in WP can be found here https://codex.wordpress.org/AJAX_in_Plugins
