diff --git a/preprocessed/DualArmPingpongBalance-v1/norm_stats.json b/preprocessed/DualArmPingpongBalance-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9041001af91e4091e717f2108b972d6d03b2cb94
--- /dev/null
+++ b/preprocessed/DualArmPingpongBalance-v1/norm_stats.json
@@ -0,0 +1,466 @@
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+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda_leaphand-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand_left-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        46,
+        69
+      ]
+    },
+    {
+      "path": "obs/agent/panda_leaphand_left-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        69,
+        92
+      ]
+    },
+    {
+      "path": "obs/extra/balance_duration",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        92,
+        93
+      ]
+    },
+    {
+      "path": "obs/extra/ball_on_racket",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        93,
+        94
+      ]
+    },
+    {
+      "path": "obs/extra/ball_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        94,
+        97
+      ]
+    },
+    {
+      "path": "obs/extra/left_tcp_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        97,
+        100
+      ]
+    },
+    {
+      "path": "obs/extra/racket_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        100,
+        103
+      ]
+    },
+    {
+      "path": "obs/extra/right_tcp_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        103,
+        106
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      69
+    ],
+    [
+      69,
+      92
+    ],
+    [
+      92,
+      93
+    ],
+    [
+      94,
+      97
+    ],
+    [
+      97,
+      100
+    ],
+    [
+      100,
+      103
+    ],
+    [
+      103,
+      106
+    ]
+  ],
+  "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
diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_0.h5 b/preprocessed/DualArmPingpongBalance-v1/traj_0.h5
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new file mode 100644
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+++ b/preprocessed/DualArmPingpongBalance-v1/traj_0_front_camera.mp4
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_0_left_camera.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_0_left_camera.mp4
new file mode 100644
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_0_robot_camera_0.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_0_robot_camera_0.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_0_robot_camera_1.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_0_robot_camera_1.mp4
new file mode 100644
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_0_top_camera.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_0_top_camera.mp4
new file mode 100644
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_10_left_camera.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_10_left_camera.mp4
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diff --git a/preprocessed/DualArmPingpongBalance-v1/traj_10_robot_camera_0.mp4 b/preprocessed/DualArmPingpongBalance-v1/traj_10_robot_camera_0.mp4
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