diff --git a/OpenBoxRetrieval-v1/dataset/norm_stats.json b/OpenBoxRetrieval-v1/dataset/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b12e3156792beac8f2b4877bd32df13a88d62d
--- /dev/null
+++ b/OpenBoxRetrieval-v1/dataset/norm_stats.json
@@ -0,0 +1,199 @@
+{
+  "count": 30427,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 29,
+  "action_dim": 7,
+  "state_mean": [
+    0.07665856819854862,
+    -0.2972939365834029,
+    -0.07942900438271058,
+    -2.2775451391440713,
+    -0.01602909052597165,
+    1.9808055914858376,
+    0.6024258872264499,
+    0.036938776504553864,
+    0.03692944259161333,
+    0.001796299012884434,
+    0.011655571328576182,
+    -0.0017163575121558925,
+    0.0031098547313662436,
+    -0.0005983484819907562,
+    0.008645641837486614,
+    -0.0015105587582833389,
+    -0.00038502521024758843,
+    -0.00042438396805986325,
+    0.06217077380805818,
+    -0.0015577757984211738,
+    0.1395133300671996,
+    -0.40284999704380353,
+    0.08380839380300938,
+    -0.16271955507157032,
+    0.06352368099934222,
+    -0.0016576534603418552,
+    0.20000000298023224,
+    0.6087763661070708,
+    0.3945257268745884
+  ],
+  "state_std": [
+    0.28951627311501305,
+    0.27833282198155135,
+    0.31915714244257887,
+    0.22162740996315097,
+    0.1066032482253365,
+    0.2887149283008408,
+    0.7670710851386038,
+    0.007338516052105382,
+    0.007340500819998975,
+    0.04241673297310558,
+    0.10144072530643715,
+    0.04155578195374423,
+    0.10726618001640434,
+    0.04013374577577064,
+    0.12824423541814525,
+    0.17094015085256087,
+    0.012627824969200972,
+    0.012946594630324403,
+    0.030865213888583678,
+    0.06979899765393278,
+    0.06430930229421895,
+    1.1417584099286897,
+    0.6549753499961379,
+    0.7331478769525028,
+    0.030359182440732144,
+    0.06965038770264784,
+    0.0001,
+    0.40883904609807203,
+    0.16872654963084754
+  ],
+  "action_mean": [
+    0.0050335288870443605,
+    0.00034186138361352067,
+    -0.0030027549007040255,
+    0.0,
+    0.0,
+    -0.0006355175485051333,
+    0.7146613205376803
+  ],
+  "action_std": [
+    0.02836196607917947,
+    0.027126894588133315,
+    0.05681034777492131,
+    0.0001,
+    0.0001,
+    0.03901732256485769,
+    0.6994706619489763
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/extra/banana_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/box_lid_angle",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        21,
+        22
+      ]
+    },
+    {
+      "path": "obs/extra/box_orientation",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        22,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/box_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        24,
+        27
+      ]
+    },
+    {
+      "path": "obs/extra/task_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        27,
+        29
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ],
+    [
+      21,
+      22
+    ],
+    [
+      22,
+      24
+    ],
+    [
+      24,
+      27
+    ],
+    [
+      27,
+      29
+    ]
+  ],
+  "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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