diff --git a/preprocessed/FitnessBall-v1/norm_stats.json b/preprocessed/FitnessBall-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e16aa51fde8115582bb3b03fd3fe92d9721385
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/norm_stats.json
@@ -0,0 +1,409 @@
+{
+  "count": 23620,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 66,
+  "action_dim": 22,
+  "state_mean": [
+    -0.04221823278445495,
+    0.023386118176513863,
+    -0.042196987151064985,
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+    2.059975656586921,
+    2.477605545752943,
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+    0.11078587041710408,
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+    1.4999988590833193,
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+    2.602347550927036e-07,
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+    9.912396622275018e-07,
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+    2.8988283895874888e-05,
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+    0.0,
+    0.0,
+    0.0,
+    -534.8994530714141,
+    -9.335756500200333,
+    0.0
+  ],
+  "state_std": [
+    0.00010000237352569884,
+    0.0012042666212229863,
+    0.00010083587464844447,
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+    1.0,
+    1.0,
+    336.0702218746873,
+    5.86553180635651,
+    1.0
+  ],
+  "action_mean": [
+    0.0,
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+    0.0,
+    0.017231238288610753,
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+    2.2893028679184748e-07,
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+    0.005663901655780976,
+    -0.01889145273358816,
+    0.022863943984607435,
+    0.0333775427258691
+  ],
+  "action_std": [
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.13010182760878441,
+    0.016149074198977632,
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+    0.037223749543703936,
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+    0.00010000109525972332,
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+    0.05208312016950762,
+    0.0623624806970467,
+    0.09927971994390114,
+    0.0562839956995312
+  ],
+  "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
+      ]
+    },
+    {
+      "path": "obs/extra/ball1_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        46,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/ball2_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        49,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/ball_hand_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        52,
+        53
+      ]
+    },
+    {
+      "path": "obs/extra/ball_separation",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        53,
+        54
+      ]
+    },
+    {
+      "path": "obs/extra/best_circle_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        54,
+        55
+      ]
+    },
+    {
+      "path": "obs/extra/center_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        55,
+        58
+      ]
+    },
+    {
+      "path": "obs/extra/circle_completed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        58,
+        59
+      ]
+    },
+    {
+      "path": "obs/extra/circle_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        59,
+        60
+      ]
+    },
+    {
+      "path": "obs/extra/is_dropped",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        60,
+        61
+      ]
+    },
+    {
+      "path": "obs/extra/is_grasped",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        61,
+        62
+      ]
+    },
+    {
+      "path": "obs/extra/is_success",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        62,
+        63
+      ]
+    },
+    {
+      "path": "obs/extra/red_blue_cum_rotation_deg",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        63,
+        64
+      ]
+    },
+    {
+      "path": "obs/extra/red_blue_cum_rotation_rad",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        64,
+        65
+      ]
+    },
+    {
+      "path": "obs/extra/revolution_completed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        65,
+        66
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      49
+    ],
+    [
+      49,
+      52
+    ],
+    [
+      52,
+      53
+    ],
+    [
+      53,
+      54
+    ],
+    [
+      54,
+      55
+    ],
+    [
+      55,
+      58
+    ],
+    [
+      59,
+      60
+    ],
+    [
+      63,
+      64
+    ],
+    [
+      64,
+      65
+    ]
+  ],
+  "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/FitnessBall-v1/traj_0_front_camera.mp4 b/preprocessed/FitnessBall-v1/traj_0_front_camera.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/preprocessed/FitnessBall-v1/traj_1.h5 b/preprocessed/FitnessBall-v1/traj_1.h5
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 2845831807
diff --git a/preprocessed/FitnessBall-v1/traj_10_left_camera.mp4 b/preprocessed/FitnessBall-v1/traj_10_left_camera.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 287376
diff --git a/preprocessed/FitnessBall-v1/traj_10_top_camera.mp4 b/preprocessed/FitnessBall-v1/traj_10_top_camera.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/preprocessed/FitnessBall-v1/traj_11_top_camera.mp4 b/preprocessed/FitnessBall-v1/traj_11_top_camera.mp4
new file mode 100644
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--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_11_top_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b86a24fbd0f16f0fddb4551270903daf7480b823bf7a5ede74782901d4943f
+size 388886
diff --git a/preprocessed/FitnessBall-v1/traj_12_left_camera.mp4 b/preprocessed/FitnessBall-v1/traj_12_left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e38ec4d41f9fb3bf599ef5d63fc5df683d1f9796
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+oid sha256:72ed782869814c34b307d68d8e487c06733f28b80466550617cca65534f7f2ef
+size 287376
diff --git a/preprocessed/FitnessBall-v1/traj_12_robot_camera.mp4 b/preprocessed/FitnessBall-v1/traj_12_robot_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37e7d687562ba60136c22014475b9d20b9e2b885
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_12_robot_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f5745f3e24ec4fff3d6fa3e4bd3d67127276181c62658eda69521563be07ad
+size 167505
diff --git a/preprocessed/FitnessBall-v1/traj_13.h5 b/preprocessed/FitnessBall-v1/traj_13.h5
new file mode 100644
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diff --git a/preprocessed/FitnessBall-v1/traj_13_front_camera.mp4 b/preprocessed/FitnessBall-v1/traj_13_front_camera.mp4
new file mode 100644
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--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_13_front_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 232572
diff --git a/preprocessed/FitnessBall-v1/traj_13_robot_camera.mp4 b/preprocessed/FitnessBall-v1/traj_13_robot_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37e7d687562ba60136c22014475b9d20b9e2b885
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f5745f3e24ec4fff3d6fa3e4bd3d67127276181c62658eda69521563be07ad
+size 167505
diff --git a/preprocessed/FitnessBall-v1/traj_13_top_camera.mp4 b/preprocessed/FitnessBall-v1/traj_13_top_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e1b1a84b8679cf2a8a992ada97f2008337fbfa9
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b86a24fbd0f16f0fddb4551270903daf7480b823bf7a5ede74782901d4943f
+size 388886
diff --git a/preprocessed/FitnessBall-v1/traj_14.h5 b/preprocessed/FitnessBall-v1/traj_14.h5
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--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_14.h5
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diff --git a/preprocessed/FitnessBall-v1/traj_14_front_camera.mp4 b/preprocessed/FitnessBall-v1/traj_14_front_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..822a995b9eb9593328076d3cc22dc2b8d13cf0b5
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_14_front_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9606986f44bc6e7c493125838c462e3083ec11aec9a1fcb0c66f1c6b19e57be
+size 232572
diff --git a/preprocessed/FitnessBall-v1/traj_14_robot_camera.mp4 b/preprocessed/FitnessBall-v1/traj_14_robot_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37e7d687562ba60136c22014475b9d20b9e2b885
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_14_robot_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f5745f3e24ec4fff3d6fa3e4bd3d67127276181c62658eda69521563be07ad
+size 167505
diff --git a/preprocessed/FitnessBall-v1/traj_15_left_camera.mp4 b/preprocessed/FitnessBall-v1/traj_15_left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e38ec4d41f9fb3bf599ef5d63fc5df683d1f9796
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_15_left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ed782869814c34b307d68d8e487c06733f28b80466550617cca65534f7f2ef
+size 287376
diff --git a/preprocessed/FitnessBall-v1/traj_15_robot_camera.mp4 b/preprocessed/FitnessBall-v1/traj_15_robot_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37e7d687562ba60136c22014475b9d20b9e2b885
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_15_robot_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38f5745f3e24ec4fff3d6fa3e4bd3d67127276181c62658eda69521563be07ad
+size 167505
diff --git a/preprocessed/FitnessBall-v1/traj_16_left_camera.mp4 b/preprocessed/FitnessBall-v1/traj_16_left_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e38ec4d41f9fb3bf599ef5d63fc5df683d1f9796
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_16_left_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ed782869814c34b307d68d8e487c06733f28b80466550617cca65534f7f2ef
+size 287376
diff --git a/preprocessed/FitnessBall-v1/traj_16_top_camera.mp4 b/preprocessed/FitnessBall-v1/traj_16_top_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e1b1a84b8679cf2a8a992ada97f2008337fbfa9
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_16_top_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b86a24fbd0f16f0fddb4551270903daf7480b823bf7a5ede74782901d4943f
+size 388886
diff --git a/preprocessed/FitnessBall-v1/traj_17_front_camera.mp4 b/preprocessed/FitnessBall-v1/traj_17_front_camera.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..822a995b9eb9593328076d3cc22dc2b8d13cf0b5
--- /dev/null
+++ b/preprocessed/FitnessBall-v1/traj_17_front_camera.mp4
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