“…Neural rendering techniques [1] continue to grow in importance, particularly Neural Radiance Fields [2] (NeRFs), which achieve state-of-the-art performance in novel view synthesis and 3D-from-2D reconstruction. As a result, NeRFs have been utilized for a variety of applications, not only in content creation [3], [4], [5], [6], but also for many robotics tasks, including 6-DoF tracking [7], pose estimation [8], surface recognition [9] or reconstruction [10], motion planning [11], [12], [13], reinforcement learning [14], [15], tactile sensing [16], and data-driven simulation [17], [18]. However, slow rendering and the qualitative artifacts of NeRFs impede further use cases in production.…”