diff --git a/preprocessed/TweezersPickPlace-v1/norm_stats.json b/preprocessed/TweezersPickPlace-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ab5aa2cf49aa9ff17bd320e72e0f077cb964fb
--- /dev/null
+++ b/preprocessed/TweezersPickPlace-v1/norm_stats.json
@@ -0,0 +1,393 @@
+{
+  "count": 10220,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 66,
+  "action_dim": 22,
+  "state_mean": [
+    0.1822871341642973,
+    0.20421462571038249,
+    0.15856351815811093,
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+    1.3667161884606467,
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+    0.5140312909802564,
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+    0.06714770416800842,
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+    0.652692920051755,
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+    0.2987874015432921,
+    0.7893974906159406,
+    0.7845797873249837,
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+    0.6066733184516605,
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+    0.0,
+    0.0,
+    0.04934342720434425,
+    0.16745087161631766,
+    0.38326626599068275,
+    0.2066474950301904,
+    0.08148975715719149,
+    0.25,
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+    0.0024999999441206455,
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+    0.413353206331016,
+    0.013952115621061682,
+    0.04022702061591229,
+    0.23765607119707388
+  ],
+  "state_std": [
+    0.2352471416025557,
+    0.3680687304974702,
+    0.271731080329855,
+    0.3234029258853284,
+    0.2765807915676086,
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+    0.21906298747888323,
+    0.19179928205996608
+  ],
+  "action_mean": [
+    -0.002161644677674387,
+    0.022491425315674433,
+    -0.012857404678817698,
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+    0.0,
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+    0.110530826253464,
+    0.06140052248784814,
+    0.03855627137299921,
+    -0.0053429765045075175,
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+    0.017825501469105165,
+    0.00737638240375635,
+    0.11159054245867203,
+    0.03937399420437776
+  ],
+  "action_std": [
+    0.04224211618885902,
+    0.10565822175879709,
+    0.09858919926104422,
+    0.024608376060322394,
+    0.0001,
+    0.0001,
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+    0.10524491674834881,
+    0.06776094247445406,
+    0.053352388277946645,
+    0.004727911163392899,
+    0.06491933905009627,
+    0.07443710516379201,
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+    0.01297024159463743,
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+    0.08322194929303493,
+    0.018899084522780704,
+    0.13198267631664282,
+    0.0674024056598076
+  ],
+  "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/cube_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        46,
+        49
+      ]
+    },
+    {
+      "path": "obs/extra/cube_target_dist",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        49,
+        50
+      ]
+    },
+    {
+      "path": "obs/extra/grasp_progress",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        50,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/is_at_target",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        51,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/is_grasped",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        52,
+        53
+      ]
+    },
+    {
+      "path": "obs/extra/palm_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        53,
+        56
+      ]
+    },
+    {
+      "path": "obs/extra/palm_tweezers_dist",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        56,
+        57
+      ]
+    },
+    {
+      "path": "obs/extra/placement_progress",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        57,
+        58
+      ]
+    },
+    {
+      "path": "obs/extra/target_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        58,
+        61
+      ]
+    },
+    {
+      "path": "obs/extra/tweezers_arm_gap",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        61,
+        62
+      ]
+    },
+    {
+      "path": "obs/extra/tweezers_cube_dist",
+      "dtype": "float64",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        62,
+        63
+      ]
+    },
+    {
+      "path": "obs/extra/tweezers_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        63,
+        66
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      49
+    ],
+    [
+      49,
+      50
+    ],
+    [
+      50,
+      51
+    ],
+    [
+      53,
+      56
+    ],
+    [
+      56,
+      57
+    ],
+    [
+      57,
+      58
+    ],
+    [
+      58,
+      61
+    ],
+    [
+      61,
+      62
+    ],
+    [
+      62,
+      63
+    ],
+    [
+      63,
+      66
+    ]
+  ],
+  "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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index 0000000000000000000000000000000000000000..05d66fab573a08dadc30654849694b9c62f457c1
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