diff --git a/preprocessed/HammerNailOut-v1/norm_stats.json b/preprocessed/HammerNailOut-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bded1dd46a17d6b1888c89846cdfb449982a2b
--- /dev/null
+++ b/preprocessed/HammerNailOut-v1/norm_stats.json
@@ -0,0 +1,353 @@
+{
+  "count": 5992,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
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+  "action_dim": 22,
+  "state_mean": [
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+    0.0039642694752762735,
+    0.11251144275824557
+  ],
+  "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/hammer_claw_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        46,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/hammer_nail_err",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        49,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/hammer_reach_err",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        52,
+        55
+      ]
+    },
+    {
+      "path": "obs/extra/height_progress",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        55,
+        56
+      ]
+    },
+    {
+      "path": "obs/extra/initial_nail_depth",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        56,
+        57
+      ]
+    },
+    {
+      "path": "obs/extra/is_nail_pulled",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        57,
+        58
+      ]
+    },
+    {
+      "path": "obs/extra/nail_height",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        58,
+        59
+      ]
+    },
+    {
+      "path": "obs/extra/nail_target_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        59,
+        62
+      ]
+    },
+    {
+      "path": "obs/extra/palm_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        62,
+        65
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      49
+    ],
+    [
+      49,
+      52
+    ],
+    [
+      52,
+      55
+    ],
+    [
+      55,
+      56
+    ],
+    [
+      56,
+      57
+    ],
+    [
+      58,
+      59
+    ],
+    [
+      59,
+      62
+    ],
+    [
+      62,
+      65
+    ]
+  ],
+  "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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