diff --git a/preprocessed/DualArmHammerHandover-v1/norm_stats.json b/preprocessed/DualArmHammerHandover-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef69ff108d01302a763be01cf9f5753b0efedbd0
--- /dev/null
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+{
+  "count": 7340,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 45,
+  "action_dim": 14,
+  "state_mean": [
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+    -0.03986807849825948,
+    0.014773490217165244,
+    -2.28002920215721,
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+    0.023326025418774043,
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+    0.0006703147015714372,
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+    0.021418743990530877,
+    0.00027331340457670305,
+    2.2164160495860562e-05,
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+    0.001755467036165482,
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+    0.0,
+    0.7895258451616569,
+    0.0,
+    0.5586986262767453,
+    0.33745282839080293
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+  "state_std": [
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+    1.0,
+    1.0,
+    1.0,
+    2.150573655857408,
+    1.0,
+    2.2010255660323113,
+    0.16513457877475543
+  ],
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+    0.000408502233358696,
+    0.0006313090276576659,
+    -0.0011937988470295798,
+    0.0036380842368674213,
+    0.0,
+    3.950519608435216e-05,
+    0.05313351498637602,
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+    -0.008354620233543565,
+    0.0,
+    0.0,
+    0.0,
+    0.2871934604904632
+  ],
+  "action_std": [
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+    0.04519953847292126,
+    0.06356886274174564,
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+    0.026325457651342133,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.9578726043955502
+  ],
+  "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/hammer_height",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        36,
+        37
+      ]
+    },
+    {
+      "path": "obs/extra/hold_duration",
+      "dtype": "int32",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        37,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/is_high_enough",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        38,
+        39
+      ]
+    },
+    {
+      "path": "obs/extra/is_left_holding",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        39,
+        40
+      ]
+    },
+    {
+      "path": "obs/extra/is_right_holding",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        40,
+        41
+      ]
+    },
+    {
+      "path": "obs/extra/left_to_hammer_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        41,
+        42
+      ]
+    },
+    {
+      "path": "obs/extra/phase",
+      "dtype": "int32",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        42,
+        43
+      ]
+    },
+    {
+      "path": "obs/extra/right_to_hammer_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        43,
+        44
+      ]
+    },
+    {
+      "path": "obs/extra/robot_to_robot_dist",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        44,
+        45
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      36,
+      37
+    ],
+    [
+      41,
+      42
+    ],
+    [
+      43,
+      44
+    ],
+    [
+      44,
+      45
+    ]
+  ],
+  "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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