[Skip to main content](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html.md#main-content) Back to top Ctrl+K [Getting Started With Isaac Lab](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) Choose version Search Ctrl+K - [YouTube](https://www.youtube.com/@NVIDIAOmniverse) - [Discord](https://discord.gg/nvidiaomniverse.md) - [Survey](https://surveys.hotjar.com/98510484-7ad7-4ddc-bfc4-1b7663827216.md?utm_source=getting-started-with-isaac-lab) - [Home](https://docs.nvidia.com/learning/physical-ai/) Search Ctrl+K [Getting Started With Isaac Lab](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) Choose version - [YouTube](https://www.youtube.com/@NVIDIAOmniverse) - [Discord](https://discord.gg/nvidiaomniverse.md) - [Survey](https://surveys.hotjar.com/98510484-7ad7-4ddc-bfc4-1b7663827216.md?utm_source=getting-started-with-isaac-lab) - [Home](https://docs.nvidia.com/learning/physical-ai/) Table of Contents Contents - [Robot Learning Fundamentals](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/index.html.md) - [Motivation and Definition](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/01-motivation-and-definition.html.md) - [Problem Specification](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/02-problem-specification.html.md) - [Forms of Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/03-forms-of-learning.html.md) - [Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/04-reinforcement-learning.html.md) - [Proximal Policy Optimization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/05-proximal-policy-optimization.html.md) - [Reward Design and Evaluation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/06-reward-design-and-policy-evaluation.html.md) - [Policy Distillation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/07-policy-distillation.html.md) - [Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/08-simulation-to-reality.html.md) - [Robot Learning Workflows](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/robot-learning-fundamentals/09-robot-learning-workflows.html.md) - [Isaac Lab Basics](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/index.html.md) - [The Isaac Platform](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/01-the-isaac-platform.html.md) - [Project Generation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/02-isaac-lab-projects.html.md) - [Development Workflow](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/03-development-workflow.html.md) - [The Isaac Lab CLI](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/04-isaac-lab-cli.html.md) - [Manager-Based Workflows](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/05-manager-based-workflows.html.md) - [The Cartpole Example](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/06-isaac-lab-cartpole.html.md) - [Cartpole Training](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/isaac-lab-basics/07-cartpole-training.html.md) - [Train a Robot Arm](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/index.html.md) - [Project Setup](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/01-project-setup.html.md) - [SO-101 Robot](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/02-so101-robot.html.md) - [Vial and Rack Scene](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/03-vial-and-rack.html.md) - [Running Simple Agents](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/04-simple-agents.html.md) - [Train a Teacher Policy](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/05-teacher-policy.html.md) - [Distill a Student Policy](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/06-distilled-policy.html.md) - [Managing Experiments](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/train-a-robot-arm/07-managing-experiments.html.md) - [Transfer Policies From Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [Overview](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [The Successes of Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/index.html.md) - [Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/index.html.md) - [The Challenges of Reinforcement Learning](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/01-the-challenges-of-reinforcement-learning.html.md) - [Simulation: A Game-Changer](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/01-reinforcement-learning/02-simulation.html.md) - [What Is the Reality Gap?](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/index.html.md) - [The Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/index.html.md) - [Visualizing the Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/02-the-reality-gap/01-visualizing-the-reality-gap.html.md) - [Bridging the Gap: Simulation Enhancement](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/index.html.md) - [Domain Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/index.html.md) - [Visual Domain Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/01-visual-domain-randomization.html.md) - [Depth Camera Randomization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/02-depth-camera-randomization.html.md) - [Point Cloud Perturbations](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/03-bridging-the-gap-simulation-enhancement/03-point-cloud-perturbations.html.md) - [Bridging the Gap: Real-World Data Integration](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - [System Identification](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - [Actuator Modeling](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/01-actuator-modeling.html.md) - [Digital Twins](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html.md) - [Neural Rendering](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html.md#) - [World Models](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/04-world-models.html.md) - [Regularization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/index.html.md) - [Regularization](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/index.html.md) - [Leveraging Privileged Information](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/05-bridging-the-gap-policy-robustness/01-leveraging-privileged-information.html.md) - [Considerations When Bridging the Reality Gap](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/index.html.md) - [Considerations](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/index.html.md) - [Tips for Sim-to-Real](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/01-tips-for-sim-to-real.html.md) - [Review](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/02-review.html.md) - [Quiz](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/06-conclusion/03-quiz.html.md) Resources [Physical AI Learning Hub](https://docs.nvidia.com/learning/physical-ai/) [Developer Forums](https://forums.developer.nvidia.com/c/omniverse/300) [Community Discord](https://discord.gg/nvidiaomniverse.md) - [Home](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/index.html.md) - [Transfer Policies From Simulation to Reality](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/index.html.md) - [Bridging the Gap: Real-World Data Integration](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/index.html.md) - Neural Rendering # Neural Rendering[#](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html.md#neural-rendering 'Link to this heading') **Neural rendering** offers an innovative approach to creating photorealistic images for robotic training. The process starts by capturing a NeRF (Neural Radiance Field) of the real environment where the robots will operate. You can do this using the robot and its camera. During reinforcement learning training, this NeRF serves as a rendering engine. The system works by generating ego-centric RGB images at each timestamp based on the robot’s current position. What makes this approach particularly powerful is that additional objects can be overlaid onto the NeRF-generated scene. This creates a hybrid environment that combines the photorealistic background with simulated dynamic elements. Source: [Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning](https://arxiv.org/html/2405.02425v1), Google Deepmind In the Google DeepMind soccer project, we can see how this works in practice. The simulation environment displays a standard 3D rendered view, but the actual observation the agent receives is a much more realistic representation of the terrain, generated by the NeRF. The robot’s policy receives a 40x30 input image that combines the photorealistic background with the overlaid game elements, creating a more authentic training environment that better bridges the gap between simulation and reality. Tip Explore [NVIDIA’s Instant Neural Graphics Primitives](https://nvlabs.github.io/instant-ngp/) for examples of neural radiance fields and rendering. [previous\\ \\ Digital Twins](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/02-digital-twins.html 'previous page') [next\\ \\ World Models](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/04-world-models.html 'next page') [View this page as Markdown](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-lab/latest/transfer-policies-from-simulation-to-reality/04-bridging-the-gap-real-world-data-integration/03-neural-rendering.html.md 'View this page as clean Markdown for LLMs and AI agents') [NVIDIA](https://www.nvidia.com) [Privacy Policy](https://www.nvidia.com/en-us/about-nvidia/privacy-policy.md/) | [Manage My Privacy](https://www.nvidia.com/en-us/about-nvidia/privacy-center.md/) | [Do Not Sell or Share My Data](https://www.nvidia.com/en-us/preferences/start.md/) | [Terms of Service](https://www.nvidia.com/en-us/about-nvidia/terms-of-service.md/) | [Accessibility](https://www.nvidia.com/en-us/about-nvidia/accessibility.md/) | [Corporate Policies](https://www.nvidia.com/en-us/about-nvidia/company-policies.md/) | [Product Security](https://www.nvidia.com/en-us/product-security.md/) | [Contact](https://www.nvidia.com/en-us/contact/) Copyright © 2025 NVIDIA CORPORATION & AFFILIATES. 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