diff --git a/preprocessed/Stack6Blocks-v1/norm_stats.json b/preprocessed/Stack6Blocks-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc3f7281658f0983f62c520772ff94c9e3b3a53
--- /dev/null
+++ b/preprocessed/Stack6Blocks-v1/norm_stats.json
@@ -0,0 +1,318 @@
+{
+  "count": 26932,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "right_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 76,
+  "action_dim": 7,
+  "state_mean": [
+    0.12929146725770943,
+    0.29244084744493043,
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+    0.031018414548495177,
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+    0.0002719137738944431,
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+    0.0004903831104536938,
+    0.0004982484723587458,
+    0.20000000298023224,
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+    0.017175722047626876,
+    0.30470259558062546
+  ],
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+    0.136951807973699,
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+    0.0001,
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+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
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+    0.0001,
+    0.0001,
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+    1.0,
+    0.0001,
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+    0.08467616900878228,
+    0.0874259925957359,
+    0.1852494655931273,
+    0.10050048257030823
+  ],
+  "action_mean": [
+    0.004319390575839621,
+    1.742573099154659e-05,
+    -0.0025164859390698767,
+    0.0,
+    0.0,
+    3.243224455407409e-05,
+    0.00022278330610426268
+  ],
+  "action_std": [
+    0.03395602468525076,
+    0.05484564674779453,
+    0.0741043706822456,
+    0.0001,
+    0.0001,
+    0.0032122128555449802,
+    0.9999999801837994
+  ],
+  "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/block_positions",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 18,
+      "slice": [
+        18,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/block_yaws",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        36,
+        42
+      ]
+    },
+    {
+      "path": "obs/extra/distance_to_goals",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        42,
+        48
+      ]
+    },
+    {
+      "path": "obs/extra/goal_positions",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 18,
+      "slice": [
+        48,
+        66
+      ]
+    },
+    {
+      "path": "obs/extra/is_properly_stacked",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        66,
+        67
+      ]
+    },
+    {
+      "path": "obs/extra/stacking_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        67,
+        73
+      ]
+    },
+    {
+      "path": "obs/extra/tcp_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        73,
+        76
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      36
+    ],
+    [
+      36,
+      42
+    ],
+    [
+      42,
+      48
+    ],
+    [
+      48,
+      66
+    ],
+    [
+      67,
+      73
+    ],
+    [
+      73,
+      76
+    ]
+  ],
+  "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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