In various embodiments, a scene reconstruction model generates three-dimensional (3D) representations of scenes. The scene reconstruction model computes a first 3D feature grid based on a set of red, blue, green, and depth (RGBD) images associated with a first scene. The scene reconstruction model maps the first 3D feature grid to a first 3D representation of the first scene. The scene reconstruction model computes a first reconstruction loss based on the first 3D representation and the set of RGBD images. The scene reconstruction model modifies at least one of the first 3D feature grid, a first pre-trained geometry decoder, or a first pre-trained texture decoder based on the first reconstruction loss to generate a second 3D representation of the first scene.