How does NeRF render a pixel?	March a ray through the scene, query an MLP for density and color at hundreds of points along the ray, integrate via volume rendering.
What is the key representational difference between NeRF and 3DGS?	NeRF: implicit neural function (MLP). 3DGS: millions of explicit 3D Gaussian primitives with position, covariance, opacity, and spherical harmonic color.
Why is 3DGS faster to render than NeRF?	3DGS uses tile-based GPU rasterization (splatting) rather than millions of MLP queries per frame. It achieves real-time frame rates; NeRF cannot.
What practical advantages does 3DGS have over NeRF for robotics?	Real-time rendering, explicit 3D representation (inspectable and editable), online map updates by adding new Gaussians, direct 3D bounding volume computation.
What does SAM 2 add over the original SAM?	A memory module (cross-attention over past frame features) that enables video-consistent object tracking across frames without re-prompting.
How do you assign object identity to 3DGS Gaussian primitives?	Render per-Gaussian ID maps at the same camera poses as SAM 2 segmentation renders. Project per-pixel segment IDs back onto the ID map to label each primitive with its object identity.
What is gsplat?	An open-source 3DGS library from the nerfstudio project. The fastest Python/CUDA implementation for training and rendering 3DGS scenes.
How many images are needed to train a 3DGS scene of a kitchen?	Approximately 100 images from varied viewpoints (e.g., phone camera walk-around) is sufficient for a small-room indoor scene.
What is the role of spherical harmonics in a 3DGS primitive?	Spherical harmonics encode view-dependent color — how the primitive's apparent color changes as the camera moves around it, modeling effects like specular highlights.
What is the primary source paper for 3D Gaussian Splatting?	3D Gaussian Splatting for Real-Time Radiance Field Rendering, Kerbl et al., arXiv:2308.04079, Aug 8, 2023.