FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videos
We present FunRec, a method for reconstructing functional 3D digital twins of indoor scenes directly from egocentric RGB-D interaction videos. Unlike existing methods on articulated reconstruction, which rely on controlled setups, multi-state captures, or CAD priors, FunRec operates directly on in-the-wild human interaction sequences to recover interactable 3D scenes. It automatically discovers articulated parts, estimates their kinematic parameters, tracks their 3D motion, and reconstructs static and moving geometry in canonical space, yielding simulation-compatible meshes. Across new real and simulated benchmarks, FunRec surpasses prior work by a large margin, achieving up to +50 mIoU i...
| Authors | Alexandros Delitzas, Chenyangguang Zhang, Alexey Gavryushin et al. |
|---|---|
| Primary category | cs.CV |
| Published | 7 April 2026 |
| Last updated at source | 26 April 2026 |
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