diff --git a/preprocessed/RingTossing-v1/norm_stats.json b/preprocessed/RingTossing-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61c7de82fcaeacf0fa6f5c3f619f97a681e6e8b
--- /dev/null
+++ b/preprocessed/RingTossing-v1/norm_stats.json
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+{
+  "count": 11291,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 34,
+  "action_dim": 7,
+  "state_mean": [
+    0.01657185120680645,
+    0.36702068677654676,
+    0.05366947607460995,
+    -1.6147760807009224,
+    0.013824695347417277,
+    1.9435954736698275,
+    0.8242692825339093,
+    0.026901077149101636,
+    0.02688003647410537,
+    -0.0020491760185151224,
+    0.04121322858683903,
+    0.004225590423366431,
+    0.03942719809887309,
+    0.0023281437407535687,
+    0.0008209072074993185,
+    -0.0029987235902511284,
+    0.00021722496496570605,
+    0.00016981971247594904,
+    0.0002258516572621334,
+    0.0,
+    0.0,
+    0.0,
+    0.4407489981603584,
+    1.0,
+    0.011535928397644888,
+    0.0557769639729204,
+    0.09780347027281974,
+    0.2500284601000622,
+    0.20199641968700918,
+    0.17554795703762513,
+    0.0,
+    0.0,
+    0.8088743246833761,
+    0.6683448156134547
+  ],
+  "state_std": [
+    0.41750816092656756,
+    0.43635539091609815,
+    0.4080545411567097,
+    0.7625773949486271,
+    0.24025335749297025,
+    0.5590390436218677,
+    0.46711454493932886,
+    0.01596105363869541,
+    0.015980102952466522,
+    0.38919884250884007,
+    0.49154327121206004,
+    0.4712961071708453,
+    0.8833633133675141,
+    0.4170412999675699,
+    0.5314975401483906,
+    0.31813025630596714,
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+    0.0702104750416683,
+    1.0,
+    1.0,
+    1.0,
+    0.35034932167986466,
+    0.0001,
+    0.010027216255442704,
+    0.11603059394871833,
+    0.19864248148941946,
+    0.14094059151641242,
+    0.13551520159961167,
+    0.10005006948069436,
+    1.0,
+    1.0,
+    3.9285257061920715,
+    0.14258981764215228
+  ],
+  "action_mean": [
+    0.02953029468027226,
+    -0.008165743792574408,
+    -0.0058621860939632245,
+    0.0015905205922198146,
+    0.002351472942308205,
+    0.005014316385149819,
+    0.22132672039677617
+  ],
+  "action_std": [
+    0.1095618985119446,
+    0.0869224424158681,
+    0.13696921270168025,
+    0.031063914235140853,
+    0.03210391935374261,
+    0.031723770631613794,
+    0.9751997194618178
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/extra/hole_offset_y",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        18,
+        19
+      ]
+    },
+    {
+      "path": "obs/extra/is_ring_on_pillar",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        19,
+        20
+      ]
+    },
+    {
+      "path": "obs/extra/is_ring_stable",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        20,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/is_success",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        21,
+        22
+      ]
+    },
+    {
+      "path": "obs/extra/maximum_release_horizontal_speed",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        22,
+        23
+      ]
+    },
+    {
+      "path": "obs/extra/moving_hole_enabled",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        23,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/ring_height_band_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        24,
+        25
+      ]
+    },
+    {
+      "path": "obs/extra/ring_horizontal_speed",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        25,
+        26
+      ]
+    },
+    {
+      "path": "obs/extra/ring_speed",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        26,
+        27
+      ]
+    },
+    {
+      "path": "obs/extra/ring_to_pillar_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        27,
+        28
+      ]
+    },
+    {
+      "path": "obs/extra/ring_to_pillar_xy_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        28,
+        29
+      ]
+    },
+    {
+      "path": "obs/extra/ring_to_pillar_z_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        29,
+        30
+      ]
+    },
+    {
+      "path": "obs/extra/ring_was_tossed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        30,
+        31
+      ]
+    },
+    {
+      "path": "obs/extra/success_candidate",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        31,
+        32
+      ]
+    },
+    {
+      "path": "obs/extra/success_hold_counter",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        32,
+        33
+      ]
+    },
+    {
+      "path": "obs/extra/tossing_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        33,
+        34
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      19
+    ],
+    [
+      22,
+      23
+    ],
+    [
+      23,
+      24
+    ],
+    [
+      24,
+      25
+    ],
+    [
+      25,
+      26
+    ],
+    [
+      26,
+      27
+    ],
+    [
+      27,
+      28
+    ],
+    [
+      28,
+      29
+    ],
+    [
+      29,
+      30
+    ],
+    [
+      32,
+      33
+    ],
+    [
+      33,
+      34
+    ]
+  ],
+  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
+}
\ No newline at end of file
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