Please see the VT-Refine repository (pretraining part) for 3D-ViTac training: https://github.com/NVlabs/vt-refine (pretraining section).
VT-Refine's pretraining setup is identical to 3D-ViTac; the only difference is that it runs in simulation.
We’ll release a cleaned, 3D-ViTac-only version soon along with real-world robot implementations.