Of course you can. You just have to allow it.
Here's where "human nature" bites most management in the ass. What casual lunch discussion, random hallway chats, water cooler talks and after-hours beer have all in common is, people involved are slacking off. Those are the brief moments where employees are not being judged for not being glued to their screens. They're not being judged for interrupting other people, perhaps from unrelated departments.
A remote environment doesn't provide such opportunities for unofficially approved, cross-team slacking off. So you have to compensate. Give people greater visibility into who's doing who, and give explicit permission to engage in casual chats. Reduce pressure, particularly around deadlines. Give people their slack back.
I find it ironic that companies want everyone to do spontaneous R&D work, but they rely on it happening spontaneously due to inefficiencies of office environment. Want people to do R&D work? Treat them as R&D employees. Start paying them for doing random crap on company time and resources, no strings attached. Then you'll have innovation.