diff --git a/buttonpress/preprocess/norm_stats.json b/buttonpress/preprocess/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..604b15e5fd9aa9c9eea4e0764702618882336bf1
--- /dev/null
+++ b/buttonpress/preprocess/norm_stats.json
@@ -0,0 +1,297 @@
+{
+  "count": 2060,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "camera_rotations": {
+    "front_camera": "none",
+    "left_camera": "none",
+    "robot_camera_0": "none",
+    "robot_camera_1": "none",
+    "top_camera": "none"
+  },
+  "state_dim": 44,
+  "action_dim": 14,
+  "state_mean": [
+    -0.10321813593528152,
+    0.16458593773275834,
+    -0.17380442340198218,
+    -2.1162418451702707,
+    0.08582179964657363,
+    2.309310099222128,
+    0.45273136598537267,
+    0.0004765791882817617,
+    0.0006638187686543779,
+    -0.028411021133020433,
+    0.21143003463614007,
+    -0.012968140895775575,
+    0.04596645408952824,
+    0.03591080437916884,
+    0.18573241113330172,
+    -0.06791541249642728,
+    -0.005850521547083987,
+    -0.006400418147265304,
+    -0.018890754195817816,
+    0.11476065246836882,
+    -0.04164284217117402,
+    -2.1935097767311396,
+    0.018410153477191323,
+    2.3408305783873624,
+    0.7122333599381075,
+    0.000548094677851562,
+    0.0005901176951263694,
+    -0.005515914437290416,
+    0.20219949866437076,
+    -0.0027483671578125914,
+    0.030310766811448644,
+    0.008241961758727325,
+    0.19484595987692618,
+    -0.014548757055145755,
+    -0.006107447853383841,
+    -0.006224797941408763,
+    0.0,
+    0.0,
+    0.0056119204972894954,
+    0.0,
+    0.005549748665934318,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "state_std": [
+    0.07959771007623168,
+    0.48231877429802145,
+    0.07458113908320278,
+    0.1964682216675876,
+    0.12089845434658113,
+    0.36125554507030083,
+    0.18030137891950665,
+    0.004449567734954491,
+    0.004422082682616074,
+    0.024929278218138104,
+    0.14508665041745455,
+    0.07170661750830379,
+    0.09834773819936847,
+    0.05351564330750548,
+    0.06719448146615883,
+    0.056715470492511244,
+    0.039437437331655945,
+    0.03938775824408728,
+    0.04174566381115425,
+    0.4569930012244739,
+    0.10192357564497313,
+    0.14268202028572957,
+    0.07952220329243001,
+    0.38411298628542767,
+    0.16995570067636998,
+    0.004437241314397371,
+    0.0044310193897278945,
+    0.022430234121673148,
+    0.12835525806049078,
+    0.05090177788133853,
+    0.07694372330624442,
+    0.040304202939117455,
+    0.0597234693040246,
+    0.049017569975648954,
+    0.0393575706763837,
+    0.0393465361327714,
+    1.0,
+    1.0,
+    0.008458750845129481,
+    1.0,
+    0.00836728980336536,
+    1.0,
+    1.0,
+    1.0
+  ],
+  "action_mean": [
+    0.037919402925424214,
+    -0.028469978330783477,
+    -0.09967862228022038,
+    0.0,
+    0.0,
+    0.0,
+    -1.0,
+    0.03729788374915284,
+    -0.005654223624942372,
+    -0.09962428660647382,
+    0.0,
+    0.0,
+    0.0,
+    -1.0
+  ],
+  "action_std": [
+    0.0576934449231336,
+    0.04803189928744806,
+    0.003087110569005852,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.058347206739213835,
+    0.03335912669365495,
+    0.0033969482181999216,
+    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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