diff --git a/preprocessed/LiftBucket-v1/norm_stats.json b/preprocessed/LiftBucket-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff9014257a03a2b0c3362abc795845b23007517
--- /dev/null
+++ b/preprocessed/LiftBucket-v1/norm_stats.json
@@ -0,0 +1,221 @@
+{
+  "count": 3468,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 48,
+  "action_dim": 22,
+  "state_mean": [
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+    0.20674471416692025,
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+    0.6998759471008934
+  ],
+  "state_std": [
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+    0.2548261191205154,
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+    0.09931157138182546,
+    0.09577361936778012,
+    1.0,
+    0.17545167242770976
+  ],
+  "action_mean": [
+    0.00486730233548078,
+    -0.006856396981228181,
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+    0.0,
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+    0.05340317563253702,
+    0.005897548473151485,
+    0.09882224621004163,
+    0.08609050651528843
+  ],
+  "action_std": [
+    0.02705675727925721,
+    0.09951058475496861,
+    0.05638743685357218,
+    0.0001,
+    0.0001,
+    0.0001,
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+    0.07702310111185383,
+    0.009650059195452842,
+    0.11244386931835638,
+    0.10438827504330925
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/is_bucket_lifted",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/lifting_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        47,
+        48
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      47,
+      48
+    ]
+  ],
+  "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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