4RC: 4D Reconstruction via Conditional Querying Anytime and Anywhere

We present 4RC, a unified feed-forward framework for 4D reconstruction from monocular videos. Unlike existing methods that typically decouple motion from geometry or produce limited 4D attributes, such as sparse trajectories or two-view scene flow, 4RC learns a holistic 4D representation that jointly captures dense scene geometry and motion dynamics. At its core, 4RC introduces a novel encode-once, query-anywhere and anytime paradigm: a transformer backbone encodes the entire video into a compact spatio-temporal latent space, from which a conditional decoder can efficiently query 3D geometry and motion for any query frame at any target timestamp. To facilitate learning, we represent per-view 4D attributes in a minimally factorized form, decomposing them into base geometry and time-dependent relative motion. Extensive experiments demonstrate that 4RC outperforms prior methods across a wide range of 4D reconstruction tasks.