diff --git a/preprocessed/GraspCylinder-v1/norm_stats.json b/preprocessed/GraspCylinder-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0031f6a401084368c10244b7b27371617177873
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+{
+  "count": 4912,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 53,
+  "action_dim": 22,
+  "state_mean": [
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+    0.22235342187364054
+  ],
+  "state_std": [
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+    1.0,
+    1.0,
+    0.36792795113694066,
+    0.04783939974404698
+  ],
+  "action_mean": [
+    0.004661192351698887,
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+    0.13203661052771032,
+    0.08664765719215138
+  ],
+  "action_std": [
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+    0.04336398416337229,
+    0.07088594842150941,
+    0.0001,
+    0.0001,
+    0.0001,
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+    0.09040749082381237,
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+    0.00648161439340377,
+    0.13897038943823073,
+    0.10007460613159057
+  ],
+  "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/cylinder_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        46,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/cylinder_variant",
+      "dtype": "int64",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        49,
+        50
+      ]
+    },
+    {
+      "path": "obs/extra/is_cylinder_lifted",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        50,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/lifting_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        51,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/target_lift_height",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        52,
+        53
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      49
+    ],
+    [
+      51,
+      52
+    ],
+    [
+      52,
+      53
+    ]
+  ],
+  "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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+  "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_reoriented",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/rotational_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        47,
+        48
+      ]
+    },
+    {
+      "path": "obs/extra/success_steps",
+      "dtype": "int32",
+      "kind": "discrete",
+      "dim": 1,
+      "slice": [
+        48,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/target_rotation_angle",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        49,
+        50
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      47,
+      48
+    ],
+    [
+      49,
+      50
+    ]
+  ],
+  "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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