diff --git a/preprocessed/DualArmButtonPress-v1/norm_stats.json b/preprocessed/DualArmButtonPress-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11e2d6eaa85248d91dd378e3cd3dcbf0ba8c5a5
--- /dev/null
+++ b/preprocessed/DualArmButtonPress-v1/norm_stats.json
@@ -0,0 +1,290 @@
+{
+  "count": 2060,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 44,
+  "action_dim": 14,
+  "state_mean": [
+    -0.12760567123746247,
+    0.18016664242662672,
+    -0.186418231445064,
+    -2.0906826923773125,
+    0.0974024224307427,
+    2.297384455655385,
+    0.4120243168055664,
+    0.0004708504367192442,
+    0.0006689589682294916,
+    -0.03432698430501174,
+    0.21512678560880233,
+    -0.015300943897112396,
+    0.05241775639808057,
+    0.03900816198622424,
+    0.18223275079094362,
+    -0.07688551521655912,
+    -0.00581626567963447,
+    -0.006463755603416961,
+    -0.029249802706215952,
+    0.12176648194662035,
+    -0.05724739440766534,
+    -2.183258720509057,
+    0.026061819610849944,
+    2.337322497252122,
+    0.6792484312092216,
+    0.0005394583488212596,
+    0.0005987955122678377,
+    -0.009535656024962855,
+    0.20355492351057905,
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+    0.012368019058191654,
+    0.1938149029208184,
+    -0.02218604786328232,
+    -0.0060752049359869545,
+    -0.006242858388139452,
+    0.0,
+    0.0,
+    0.0055793607867299115,
+    0.0,
+    0.005535559558936336,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "state_std": [
+    0.09318826907311883,
+    0.4960628639574676,
+    0.08347784300810443,
+    0.23625508768542963,
+    0.1303466969358216,
+    0.35526151988958915,
+    0.20717876676436894,
+    0.004451123193841646,
+    0.004422072880704736,
+    0.026190901761522414,
+    0.1508018900318461,
+    0.07400107580818535,
+    0.10960302840552161,
+    0.05647784547719655,
+    0.0716621242367475,
+    0.06082904174473017,
+    0.03945969307421552,
+    0.03939524122753614,
+    0.053548684710224705,
+    0.4596083494664571,
+    0.12102059256017103,
+    0.1540056345908915,
+    0.09621854844723081,
+    0.38165342402557867,
+    0.20650654225372725,
+    0.004439114652795883,
+    0.004430346036783656,
+    0.02624720269119139,
+    0.1303107441797692,
+    0.06010523016425392,
+    0.07946135505508811,
+    0.046757933140401824,
+    0.061362567457440974,
+    0.05645971532577476,
+    0.039372818264893174,
+    0.039356963228963274,
+    1.0,
+    1.0,
+    0.00842327058843189,
+    1.0,
+    0.008349634665282473,
+    1.0,
+    1.0,
+    1.0
+  ],
+  "action_mean": [
+    0.0377992574469123,
+    -0.033861360348646924,
+    -0.09967924304378842,
+    0.0,
+    0.0,
+    0.0,
+    -1.0,
+    0.03729461423546365,
+    -0.00798446505321461,
+    -0.09963503413408706,
+    0.0,
+    0.0,
+    0.0,
+    -1.0
+  ],
+  "action_std": [
+    0.057245052975361574,
+    0.05070179092470364,
+    0.0031030343246418292,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.05831639188332318,
+    0.03880680189220521,
+    0.0033441136717168455,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001
+  ],
+  "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/both_pressed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/button1_press_step",
+      "dtype": "int64",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/button1_qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    },
+    {
+      "path": "obs/extra/button2_press_step",
+      "dtype": "int64",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        39,
+        40
+      ]
+    },
+    {
+      "path": "obs/extra/button2_qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        40,
+        41
+      ]
+    },
+    {
+      "path": "obs/extra/is_button1_pressed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        41,
+        42
+      ]
+    },
+    {
+      "path": "obs/extra/is_button2_pressed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        42,
+        43
+      ]
+    },
+    {
+      "path": "obs/extra/simultaneous_press",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        43,
+        44
+      ]
+    }
+  ],
+  "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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