Autodesk Inventor Publisher supports various other CAD file formats. The workflow to insert these files are exactly same as an Inventor file.
Supported File Formats
Selecting any files formats listed above except .skp, .obj, .123D, and .FBX enables the Options button that gives the option to select faceting value. (Learn more about faceting control under Insert Options - Faceting topic)
Command Access:
Home tabModel panel
Insert Model