diff --git a/preprocessed/DualArmPegInHole-v1/norm_stats.json b/preprocessed/DualArmPegInHole-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..085516bc8c16b2f25c5bd47278af49a26a32e22c
--- /dev/null
+++ b/preprocessed/DualArmPegInHole-v1/norm_stats.json
@@ -0,0 +1,255 @@
+{
+  "count": 4549,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "right_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 41,
+  "action_dim": 14,
+  "state_mean": [
+    -0.16456291749790428,
+    -0.455977782662164,
+    0.30019950601677453,
+    -2.4964480406374796,
+    0.18071025973033336,
+    2.052553769703042,
+    1.613025539288486,
+    0.0222121240568275,
+    0.02221870649348847,
+    -0.012240490054552933,
+    0.030227527812951127,
+    0.01918115462355141,
+    -4.7540262826863025e-05,
+    0.010364168738219852,
+    0.02487060384678603,
+    0.06482680969194571,
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+    -2.440930375897719,
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+    0.24446187156835952,
+    0.022273913814414514,
+    0.022287875881342546,
+    0.005078517885641311,
+    0.047764091835726885,
+    -0.010972999231917618,
+    0.017870059851306384,
+    -0.006388696761685276,
+    0.021907542299771536,
+    -0.041394455549782466,
+    -0.002199360544368715,
+    -0.002221520518327001,
+    0.0,
+    0.0,
+    0.4049958747185751,
+    0.0,
+    0.34751391315177177
+  ],
+  "state_std": [
+    0.1789067272617159,
+    0.3698209748943141,
+    0.2783132628126003,
+    0.19917487657327193,
+    0.19203732260949707,
+    0.3280965406048373,
+    0.7959694198073343,
+    0.013837284552320004,
+    0.01383352922000778,
+    0.0663741073743927,
+    0.1505873070178404,
+    0.10778741154292372,
+    0.11766364434383232,
+    0.07211076898364696,
+    0.13692145704932052,
+    0.31383195674444264,
+    0.024802911469965452,
+    0.02486353557530343,
+    0.18460673793544216,
+    0.40994100957396884,
+    0.27144610351036463,
+    0.2605409349817379,
+    0.16805543011252738,
+    0.3618123406277934,
+    0.7953771656829474,
+    0.014693388346641311,
+    0.014683272630055224,
+    0.05688218798259862,
+    0.17660909871387634,
+    0.09023001359155466,
+    0.1417763865036151,
+    0.05661207297879122,
+    0.1630717151045232,
+    0.2727351237657547,
+    0.0285325672603828,
+    0.02877112244401432,
+    1.0,
+    1.0,
+    0.4271993863523797,
+    1.0,
+    0.37355873110715193
+  ],
+  "action_mean": [
+    0.004146973602585785,
+    -0.011951234310694555,
+    -0.013226852124499843,
+    -0.0003834708979883508,
+    -2.8529247070781754e-06,
+    0.015597124229015151,
+    -0.2618157836887228,
+    0.004230571258297455,
+    0.018168358339661534,
+    -0.013788767721741332,
+    0.0008645125695934541,
+    -1.8899765082148358e-05,
+    -0.009373716283020446,
+    -0.20817762145526492
+  ],
+  "action_std": [
+    0.0464607345579736,
+    0.04132451436749533,
+    0.05430975074401296,
+    0.004465735492741385,
+    0.000695466463825209,
+    0.06468344152015469,
+    0.9651178712527605,
+    0.04189380381658861,
+    0.048535604378282166,
+    0.06130877915140291,
+    0.006368279252535083,
+    0.00043181556786486624,
+    0.056293253112951136,
+    0.9780910427589188
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        18,
+        27
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        27,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/insert_cnt",
+      "dtype": "int32",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/phase",
+      "dtype": "int32",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/right_to_peg_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    },
+    {
+      "path": "obs/extra/success",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        39,
+        40
+      ]
+    },
+    {
+      "path": "obs/extra/xy_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        40,
+        41
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      38,
+      39
+    ],
+    [
+      40,
+      41
+    ]
+  ],
+  "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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