diff --git a/preprocessed/StackBlock-v1/norm_stats.json b/preprocessed/StackBlock-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..741a4df3860d34be2abb3af635f98324f083b687
--- /dev/null
+++ b/preprocessed/StackBlock-v1/norm_stats.json
@@ -0,0 +1,212 @@
+{
+  "count": 4653,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "right_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 30,
+  "action_dim": 7,
+  "state_mean": [
+    -0.008247166630954546,
+    0.003673625042798478,
+    -0.015497880515180454,
+    -2.493059177309524,
+    0.0073846824730758156,
+    2.4777477069898186,
+    0.7561030219331649,
+    0.03004540167304583,
+    0.030045427989063345,
+    0.0011329998373762512,
+    0.07075579587488617,
+    -0.0011142555676771405,
+    0.0047235378613143,
+    0.00043890659809582447,
+    0.0631740360350456,
+    -0.0006248688042951051,
+    0.00011438653123273703,
+    0.00011713057531406345,
+    0.11121100931782996,
+    0.004883544554900767,
+    0.01992770890604609,
+    0.09146269929902931,
+    -0.01915801957845116,
+    0.05421641737009707,
+    0.18968393439711487,
+    0.0,
+    0.22623387850819415,
+    0.033945859851228534,
+    -0.010936058741876597,
+    0.2600853266848971
+  ],
+  "state_std": [
+    0.11923685393997367,
+    0.46976887494356817,
+    0.0811096519612817,
+    0.2924300837363581,
+    0.048078628865190244,
+    0.3232095332869794,
+    0.21672197546074928,
+    0.011882845005506987,
+    0.011882714081097218,
+    0.049257547046088694,
+    0.15658702044083408,
+    0.04251934756458924,
+    0.15126339362695673,
+    0.030854070263932356,
+    0.14940091991286333,
+    0.08100985931501904,
+    0.025617143597680046,
+    0.025616986012789653,
+    0.0701861048105279,
+    0.13322199376589736,
+    0.002241726287302331,
+    0.06309781888474802,
+    0.1185984537701455,
+    0.04701295470924765,
+    0.11193629618396173,
+    1.0,
+    0.3682881528418369,
+    0.09874711053563037,
+    0.09635849013384293,
+    0.11380830158013956
+  ],
+  "action_mean": [
+    0.01611137713603934,
+    0.0002908576555217242,
+    -0.028195585290923978,
+    0.0,
+    0.0,
+    0.0,
+    0.195357833655706
+  ],
+  "action_std": [
+    0.04014688019516001,
+    0.04626474530518639,
+    0.06467864619173368,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.9807320362001793
+  ],
+  "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/block_a_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/block_b_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        21,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/distance_to_goal",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        24,
+        25
+      ]
+    },
+    {
+      "path": "obs/extra/is_stacked",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        25,
+        26
+      ]
+    },
+    {
+      "path": "obs/extra/stacking_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        26,
+        27
+      ]
+    },
+    {
+      "path": "obs/extra/tcp_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        27,
+        30
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ],
+    [
+      21,
+      24
+    ],
+    [
+      24,
+      25
+    ],
+    [
+      26,
+      27
+    ],
+    [
+      27,
+      30
+    ]
+  ],
+  "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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