diff --git a/preprocessed/ReorientPen-v1/norm_stats.json b/preprocessed/ReorientPen-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40aebf5fa31d594713479aed1bd06a14005d2ed
--- /dev/null
+++ b/preprocessed/ReorientPen-v1/norm_stats.json
@@ -0,0 +1,273 @@
+{
+  "count": 5964,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 55,
+  "action_dim": 22,
+  "state_mean": [
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+    0.16597571615900072,
+    0.14803389717317875,
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+  ],
+  "state_std": [
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+    1.0,
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+    0.6490624743730193,
+    0.5244066208502378
+  ],
+  "action_mean": [
+    -4.491767296162942e-06,
+    0.02239039444840027,
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+    0.08804869677029464,
+    0.0010907224973919767,
+    0.06315261909099813,
+    0.0001395770699085419
+  ],
+  "action_std": [
+    0.030371522268917032,
+    0.04874391949974456,
+    0.0768787314052229,
+    0.07365557766053221,
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+    0.18084220578837223,
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+    0.0001,
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+    0.0001,
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+    0.711185474464596,
+    0.0001,
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+    0.03374519977093064,
+    0.42150262253556553,
+    0.010215714686540667
+  ],
+  "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/is_dropped",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/is_success",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        47,
+        48
+      ]
+    },
+    {
+      "path": "obs/extra/pen_orientation",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        48,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/rotational_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        51,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/target_orientation",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        52,
+        55
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      48,
+      51
+    ],
+    [
+      51,
+      52
+    ],
+    [
+      52,
+      55
+    ]
+  ],
+  "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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new file mode 100644
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