diff --git a/preprocessed/GraspTwoBlocks-v1/norm_stats.json b/preprocessed/GraspTwoBlocks-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..906dc1d7d318496a79e2b0a39621a1e406432bc8
--- /dev/null
+++ b/preprocessed/GraspTwoBlocks-v1/norm_stats.json
@@ -0,0 +1,193 @@
+{
+  "count": 3415,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 46,
+  "action_dim": 22,
+  "state_mean": [
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+    0.09929680766495695
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+  "action_mean": [
+    0.005541059252087404,
+    0.02446312180653454,
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+  ],
+  "action_std": [
+    0.03521867300464743,
+    0.04444034590777722,
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+    0.0001,
+    0.0001,
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+    0.21487983326433305,
+    0.002232140341758052,
+    0.10592312058183202,
+    0.10259059732615934
+  ],
+  "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
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ]
+  ],
+  "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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