diff --git a/preprocessed/OpenBoxRetrieval-v1/norm_stats.json b/preprocessed/OpenBoxRetrieval-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78059430a1f2a6ca04a99296335d57835bcbd21
--- /dev/null
+++ b/preprocessed/OpenBoxRetrieval-v1/norm_stats.json
@@ -0,0 +1,199 @@
+{
+  "count": 12328,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 29,
+  "action_dim": 7,
+  "state_mean": [
+    -0.005231988674426901,
+    -0.27083926464953095,
+    0.0017641441001086302,
+    -2.2539145109968315,
+    1.596255884707019e-05,
+    1.9856009839186026,
+    0.7944301881935129,
+    0.03691357803515277,
+    0.03691417003720686,
+    0.00013529250649289392,
+    0.012182800660000282,
+    -3.4866864592186244e-05,
+    0.00350879591925856,
+    -0.00023298307457640855,
+    0.008454263115825476,
+    -3.554899946465444e-05,
+    -0.0004194206463652399,
+    -0.00039113934939193914,
+    0.07392786029305629,
+    0.0004477634138712592,
+    0.13930643394910944,
+    -0.42168634790467624,
+    -0.2403893353662887,
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+    0.07544863145160238,
+    0.0004063122032487009,
+    0.20000000298023224,
+    0.5941623224121217,
+    0.3939924261240816
+  ],
+  "state_std": [
+    0.2821455981674005,
+    0.2832146257013653,
+    0.30135273313540245,
+    0.21367741721619618,
+    0.09869527051845003,
+    0.28754828587824105,
+    0.7667460411074143,
+    0.0073191924120823305,
+    0.007323936175874752,
+    0.0414586806909116,
+    0.10298385448568775,
+    0.037077800490794496,
+    0.11176914030092652,
+    0.03589770955813782,
+    0.12650856019840012,
+    0.1667657931710247,
+    0.013136267130556184,
+    0.013159624328221056,
+    0.033428229090266354,
+    0.05842263455646525,
+    0.0640398441525812,
+    1.1482470079360565,
+    0.611213624391073,
+    0.7359397073444309,
+    0.033104892523287514,
+    0.058274581076299084,
+    0.0001,
+    0.4066528235277593,
+    0.16810471539331243
+  ],
+  "action_mean": [
+    0.005409511538359698,
+    1.2613149048348936e-05,
+    -0.0030165732500374823,
+    0.0,
+    0.0,
+    -3.244646261026145e-05,
+    0.717715768981181
+  ],
+  "action_std": [
+    0.030024966078494936,
+    0.026350618796286293,
+    0.05661744666889172,
+    0.0001,
+    0.0001,
+    0.03913415321941068,
+    0.6963361867343618
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/extra/banana_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/box_lid_angle",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        21,
+        22
+      ]
+    },
+    {
+      "path": "obs/extra/box_orientation",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        22,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/box_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        24,
+        27
+      ]
+    },
+    {
+      "path": "obs/extra/task_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        27,
+        29
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ],
+    [
+      21,
+      22
+    ],
+    [
+      22,
+      24
+    ],
+    [
+      24,
+      27
+    ],
+    [
+      27,
+      29
+    ]
+  ],
+  "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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