DRAWER: Digital Reconstruction and Articulation With Environment Realism

Figure 1. DRAWER automatically converts a video of a static scene into an interactive environment with segmented objects and articulated doors. It supports physical interactions like opening/closing drawers and moving/placing objects, with precise geometry and high-fidelity rendering. With these capabilities, DRAWER can transform a video into interactive games and enable real-to-sim-to-real transfer in robotics.