diff --git a/preprocessed/KitAssembly-v1/norm_stats.json b/preprocessed/KitAssembly-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d860e62cec3bcae3c8921886d3cca614cba26627
--- /dev/null
+++ b/preprocessed/KitAssembly-v1/norm_stats.json
@@ -0,0 +1,187 @@
+{
+  "count": 21509,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 30,
+  "action_dim": 7,
+  "state_mean": [
+    -0.018333735936980743,
+    0.07980178712840443,
+    0.0166408276972491,
+    -2.435941074875377,
+    -0.0012819496621981714,
+    2.4930818925160363,
+    0.7846793190978082,
+    0.030081305917934547,
+    0.03008145407352123,
+    -0.0008834185537909937,
+    0.01545663686559229,
+    -0.0002480378868992711,
+    -0.0005120234042261727,
+    0.00011933665038018022,
+    0.014581988363941277,
+    -0.0010777158001636197,
+    0.0003160409832473413,
+    0.00030502783796967486,
+    0.04755991290796623,
+    0.027616971854820295,
+    0.04416484149994136,
+    0.011885661884733233,
+    -0.08351119343408142,
+    0.028693010567416674,
+    -0.018905687969071622,
+    0.02055639440388218,
+    0.0459546217182714,
+    0.013969209664658856,
+    -0.043963465941818665,
+    0.020462929769247185
+  ],
+  "state_std": [
+    0.18109218741018626,
+    0.28652262840748977,
+    0.18220825470574625,
+    0.18668222210158192,
+    0.10300371305650002,
+    0.25311297288812706,
+    0.367472594598734,
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+    0.009582747842962265,
+    0.0484042255918925,
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+    0.06357093399004267,
+    0.1575501045487362,
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+    0.01805853240352509,
+    0.044976721559930016,
+    0.13160471309256402,
+    0.05662698035788953,
+    0.055520799574031415,
+    0.16731723943647078,
+    0.05926432189441185,
+    0.028098113593083517,
+    0.0847863666678328,
+    0.05412159321543299,
+    0.06037767307216665,
+    0.205839827952098,
+    0.06111791401151402
+  ],
+  "action_mean": [
+    0.003942063642050721,
+    -0.0006275621670920445,
+    -0.006400796657224553,
+    0.0,
+    0.0,
+    0.0,
+    -0.021897810218978103
+  ],
+  "action_std": [
+    0.02876122005153691,
+    0.050543972569900106,
+    0.07415389193446786,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.9997602192063927
+  ],
+  "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/cross_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/cuboid_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        21,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/square_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        24,
+        27
+      ]
+    },
+    {
+      "path": "obs/extra/trapezoid_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        27,
+        30
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ],
+    [
+      21,
+      24
+    ],
+    [
+      24,
+      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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