diff --git a/src/lerobot/policies/act/processor_act.py b/src/lerobot/policies/act/processor_act.py
index b339212e1..64a1f6cc8 100644
--- a/src/lerobot/policies/act/processor_act.py
+++ b/src/lerobot/policies/act/processor_act.py
@@ -19,6 +19,7 @@ from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -33,6 +34,7 @@ def make_act_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/diffusion/processor_diffusion.py b/src/lerobot/policies/diffusion/processor_diffusion.py
index 6db3ef98b..fccfe7064 100644
--- a/src/lerobot/policies/diffusion/processor_diffusion.py
+++ b/src/lerobot/policies/diffusion/processor_diffusion.py
@@ -20,6 +20,7 @@ from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -34,6 +35,7 @@ def make_diffusion_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/pi0/processor_pi0.py b/src/lerobot/policies/pi0/processor_pi0.py
index 8255971c8..50cc4d71f 100644
--- a/src/lerobot/policies/pi0/processor_pi0.py
+++ b/src/lerobot/policies/pi0/processor_pi0.py
@@ -20,6 +20,7 @@ from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -34,6 +35,7 @@ def make_pi0_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/pi0fast/processor_pi0fast.py b/src/lerobot/policies/pi0fast/processor_pi0fast.py
index 8255971c8..50cc4d71f 100644
--- a/src/lerobot/policies/pi0fast/processor_pi0fast.py
+++ b/src/lerobot/policies/pi0fast/processor_pi0fast.py
@@ -20,6 +20,7 @@ from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -34,6 +35,7 @@ def make_pi0_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/sac/processor_sac.py b/src/lerobot/policies/sac/processor_sac.py
index 7c93f3f91..26ebaf18b 100644
--- a/src/lerobot/policies/sac/processor_sac.py
+++ b/src/lerobot/policies/sac/processor_sac.py
@@ -21,6 +21,7 @@ from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -35,6 +36,7 @@ def make_sac_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/smolvla/processor_smolvla.py b/src/lerobot/policies/smolvla/processor_smolvla.py
index df1a51b4d..a61bd144b 100644
--- a/src/lerobot/policies/smolvla/processor_smolvla.py
+++ b/src/lerobot/policies/smolvla/processor_smolvla.py
@@ -19,6 +19,7 @@ from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -33,6 +34,7 @@ def make_smolvla_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/tdmpc/processor_tdmpc.py b/src/lerobot/policies/tdmpc/processor_tdmpc.py
index cb906a12e..b7c43780f 100644
--- a/src/lerobot/policies/tdmpc/processor_tdmpc.py
+++ b/src/lerobot/policies/tdmpc/processor_tdmpc.py
@@ -20,6 +20,7 @@ from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -34,6 +35,7 @@ def make_tdmpc_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(
diff --git a/src/lerobot/policies/vqbet/processor_vqbet.py b/src/lerobot/policies/vqbet/processor_vqbet.py
index 96cbca392..7a0ae84da 100644
--- a/src/lerobot/policies/vqbet/processor_vqbet.py
+++ b/src/lerobot/policies/vqbet/processor_vqbet.py
@@ -21,6 +21,7 @@ from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.processor import (
     NormalizerProcessor,
     RobotProcessor,
+    ToBatchProcessor,
     UnnormalizerProcessor,
 )
 
@@ -35,6 +36,7 @@ def make_vqbet_processor(
         NormalizerProcessor(
             features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
         ),
+        ToBatchProcessor(),
     ]
     output_steps = [
         UnnormalizerProcessor(