Current researches mainly focus on single-view and multiview human action recognition, which can hardly satisfy the requirements of human-robot interaction (HRI) applications to recognize actions from arbitrary views. The lack of databases also sets up barriers. In this paper, we newly collect a large-scale RGB-D action database for arbitrary-view action analysis, including RGB videos, depth and skeleton sequences. The database includes action samples captured in 8 fixed viewpoints and varying-view sequences which covers the entire 360 view angles. In total, 118 persons are invited to act 40 action categories, and 25,600 video samples are collected. Our database involves more articipants, more viewpoints and a large number of samples. More importantly, it is the first database containing the entire 360? varying-view sequences. The database provides sufficient data for cross-view and arbitrary-view action analysis. Besides, we propose a View-guided Skeleton CNN (VS-CNN) to tackle the problem of arbitrary-view action recognition. Experiment results show that the VS-CNN achieves superior performance.