The problem is, infinite scroll doesn't play well with <php query_posts ?> or so it seems, and since putting your standard wordpress loop on a page
<?php if ( have_posts() ) : while ( have_posts() ) : the_post(); ?>
just gets the single post, unsurprisingly.
I mean, take Mashable for example, they use wordpress and after each article on the single page the loop just keeps going, loading in new posts.
Is it possible to use infinite scroll with query_posts at all?