Core Viewpoint - Neural Rendering (NERF/3DGS) is revolutionizing 3D reconstruction technology, significantly enhancing the realism of images used in autonomous driving and embodied intelligence simulations, addressing the limitations of traditional computer graphics rendering [3][4]. Group 1: Background and Technology - NERF and 3DGS utilize neural networks to express spatial data, excelling in new perspective synthesis, which is crucial for sensor simulation in autonomous driving and embodied intelligence [3]. - The integration of NERF and 3DGS into existing simulation frameworks is proposed as a more efficient approach than developing new frameworks from scratch, allowing for real-time rendering while leveraging existing 3D digital assets and algorithm interfaces [3][4]. Group 2: Implementation in Simulation Software - NVIDIA's Isaac Sim has incorporated neural rendering technology, enabling the insertion of 3DGS models into simulation environments, allowing for both static backgrounds and dynamic interactive objects [4][5]. - The process of importing 3DGS models into Isaac Sim involves generating USDZ models and ensuring they possess physical properties for interaction within the simulation [5][8]. Group 3: Model Interaction and Physics - To achieve realistic interactions, imported models must have physical attributes added, such as collision properties, to ensure they interact correctly with other objects in the simulation [8][14]. - The integration of dynamic objects, such as a LEGO bulldozer, into the simulation environment demonstrates the capability of 3DGS models to interact with both static and dynamic elements [11][15]. Group 4: Performance and Future Considerations - The performance metrics indicate that even with a high workload, the simulation maintains a good frame rate and low memory usage, showcasing the efficiency of the neural rendering technology [17]. - Future challenges include improving light and shadow interactions between 3DGS models, providing accurate ground truth information for algorithms, and enhancing computational efficiency for larger scenes [18][19].