diff --git a/preprocessed/DualArmPushBox-v1/norm_stats.json b/preprocessed/DualArmPushBox-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdbb34a4930dd55879501d87aef43e9fd3340e51
--- /dev/null
+++ b/preprocessed/DualArmPushBox-v1/norm_stats.json
@@ -0,0 +1,286 @@
+{
+  "count": 9318,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 43,
+  "action_dim": 14,
+  "state_mean": [
+    1.0035429719123847,
+    0.40908420233723786,
+    -0.8748516905835767,
+    -2.082947835207855,
+    0.3305918032700224,
+    2.3055108151970107,
+    0.9988530122407658,
+    4.680796655549962e-05,
+    4.675742207166815e-05,
+    0.061361150020731156,
+    0.04677337514934868,
+    -0.037191682240893746,
+    0.011905280186235247,
+    0.013667469885885611,
+    0.01705326605313373,
+    0.02209863653373363,
+    -0.0013758812282738697,
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+    -0.5665312545969545,
+    0.12832299532248043,
+    0.320056415817545,
+    -2.194531352472909,
+    -0.09123937248029025,
+    2.287235327443996,
+    0.4864178193021505,
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+    0.3649679377327072,
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+    0.27190254142226394,
+    0.0,
+    0.0,
+    0.0,
+    0.04105889542688786
+  ],
+  "state_std": [
+    1.0651152513376037,
+    0.42210363145864743,
+    0.6729800153607358,
+    0.28935541763050443,
+    0.41061215546223095,
+    0.6247775941742018,
+    0.7041948511427119,
+    0.002104462264395902,
+    0.0021044967099174395,
+    0.13213950219004086,
+    0.11158782525330144,
+    0.10606598848810816,
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+    0.09962287578364563,
+    0.13086510002765847,
+    0.1248122443892367,
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+    0.018736662906508557,
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+    0.28858769519357125,
+    0.17985872113361528,
+    0.49364119217417557,
+    0.8432351182887846,
+    0.002103984840591778,
+    0.0021039649268068815,
+    0.0808873185295234,
+    0.10747558365842488,
+    0.060315544124068796,
+    0.10926850115588617,
+    0.06735877960543678,
+    0.11926851341069943,
+    0.12162224762004907,
+    0.01868055076306555,
+    0.01866491556396597,
+    0.36338493659950427,
+    0.36338493659950427,
+    0.18996785686593112,
+    1.0,
+    1.0,
+    1.0,
+    0.040880928537597554
+  ],
+  "action_mean": [
+    0.02300310564347541,
+    -0.005492945262510664,
+    -0.014005035827231012,
+    0.0,
+    0.0,
+    0.0,
+    -1.0,
+    0.01861988018496939,
+    0.0047014336949076415,
+    -0.012736523421179407,
+    0.0,
+    0.0,
+    0.0,
+    -1.0
+  ],
+  "action_std": [
+    0.061293878743371145,
+    0.037063979435056106,
+    0.057760821883803416,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.059440415350354124,
+    0.043732083872569154,
+    0.0586561963491328,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        18,
+        27
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        27,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/box_coverage",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/box_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/box_to_target_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    },
+    {
+      "path": "obs/extra/is_box_at_target",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        39,
+        40
+      ]
+    },
+    {
+      "path": "obs/extra/is_left_static",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        40,
+        41
+      ]
+    },
+    {
+      "path": "obs/extra/is_right_static",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        41,
+        42
+      ]
+    },
+    {
+      "path": "obs/extra/overlap_area",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        42,
+        43
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      36,
+      37
+    ],
+    [
+      37,
+      38
+    ],
+    [
+      38,
+      39
+    ],
+    [
+      42,
+      43
+    ]
+  ],
+  "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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