diff --git a/preprocessed/DualArmOpenFridge-v1/norm_stats.json b/preprocessed/DualArmOpenFridge-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28a0d9b48d3b9f4de76abad02e3b301971d82fc
--- /dev/null
+++ b/preprocessed/DualArmOpenFridge-v1/norm_stats.json
@@ -0,0 +1,378 @@
+{
+  "count": 10218,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 70,
+  "action_dim": 20,
+  "state_mean": [
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+    0.0011021911434122929,
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+    0.00022189834158121036,
+    0.00018049318445410606,
+    -3.047635304614612e-07,
+    -5.7399559018153e-06,
+    -1.1159264957935149,
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+    0.75,
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+    -0.5492516777390211,
+    -3.1967656565073606,
+    -1.237429726131685,
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+    0.7790493181095266,
+    -0.4418267204719987,
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+    -1.5,
+    0.5,
+    0.6000000238418579,
+    1.0,
+    0.2642712414693153
+  ],
+  "state_std": [
+    0.31809049648554993,
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+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.3590979567691595
+  ],
+  "action_mean": [
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+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    1.0
+  ],
+  "action_std": [
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+    1.130846511637024,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/mobile_panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        0,
+        12
+      ]
+    },
+    {
+      "path": "obs/agent/mobile_panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        12,
+        24
+      ]
+    },
+    {
+      "path": "obs/agent/mobile_panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        24,
+        36
+      ]
+    },
+    {
+      "path": "obs/agent/mobile_panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        36,
+        48
+      ]
+    },
+    {
+      "path": "obs/extra/door_handle_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        48,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/fridge_door_angles",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        51,
+        53
+      ]
+    },
+    {
+      "path": "obs/extra/fridge_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        53,
+        56
+      ]
+    },
+    {
+      "path": "obs/extra/left_robot_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        56,
+        59
+      ]
+    },
+    {
+      "path": "obs/extra/object_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        59,
+        62
+      ]
+    },
+    {
+      "path": "obs/extra/right_robot_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        62,
+        65
+      ]
+    },
+    {
+      "path": "obs/extra/table_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        65,
+        68
+      ]
+    },
+    {
+      "path": "obs/extra/task_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        68,
+        70
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      12
+    ],
+    [
+      12,
+      24
+    ],
+    [
+      24,
+      36
+    ],
+    [
+      36,
+      48
+    ],
+    [
+      48,
+      51
+    ],
+    [
+      51,
+      53
+    ],
+    [
+      53,
+      56
+    ],
+    [
+      56,
+      59
+    ],
+    [
+      59,
+      62
+    ],
+    [
+      62,
+      65
+    ],
+    [
+      65,
+      68
+    ],
+    [
+      68,
+      70
+    ]
+  ],
+  "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
diff --git a/preprocessed/DualArmOpenFridge-v1/traj_0.h5 b/preprocessed/DualArmOpenFridge-v1/traj_0.h5
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new file mode 100644
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diff --git a/preprocessed/DualArmOpenFridge-v1/traj_0_robot_camera_0.mp4 b/preprocessed/DualArmOpenFridge-v1/traj_0_robot_camera_0.mp4
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diff --git a/preprocessed/DualArmOpenFridge-v1/traj_0_robot_camera_1.mp4 b/preprocessed/DualArmOpenFridge-v1/traj_0_robot_camera_1.mp4
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+version https://git-lfs.github.com/spec/v1
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