examples/expected_input.md

Expected Inputs

SGA-GSN 3D checkpoints expect the public SGA-GSN preprocessing pipeline to provide:

• Visual/object point input compatible with the AdaPoinTr shape model.
• Tactile point input with xyz + contact channels.
• The corresponding object id metadata used by the dataset loader.

For downstream RL, the perception stack uses:

shape_checkpoint = checkpoints/shape_completion/ap_ps55.pth
grasp_checkpoint = checkpoints/sga_gsn/ppct_bce_vtencdrop_8dep_vds_featex_best.pth

The 2D CNN and CNNMCA baselines expect the 2D visual/tactile image tensors produced by the SGA-GSN 2D VTG dataset loaders.