diff --git a/preprocessed/GroceryPrepare-v1/norm_stats.json b/preprocessed/GroceryPrepare-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..19f3b9c0d6b0d938a2a8055a87e3366ecc908149
--- /dev/null
+++ b/preprocessed/GroceryPrepare-v1/norm_stats.json
@@ -0,0 +1,249 @@
+{
+  "count": 19844,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "top_camera",
+    "robot_camera"
+  ],
+  "state_dim": 44,
+  "action_dim": 10,
+  "state_mean": [
+    -0.2189663407193194,
+    -0.2409558978767174,
+    -3.0750603821065208,
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+    0.0069410884715485465,
+    0.00031420901439413706,
+    -0.008392025441880089,
+    -0.004111924775627196,
+    0.0010017085131112336,
+    0.000845916157416506,
+    1.6046217790405743,
+    0.0,
+    -1.5,
+    -0.5,
+    0.75,
+    -1.3221382302722247,
+    0.07708016992165881,
+    0.881921189380038,
+    -1.2578815622534925,
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+    0.8673536499988116,
+    -0.2189663407193194,
+    -0.2409558978767174,
+    -3.0750603821065208,
+    -1.5,
+    0.5,
+    0.6000000238418579,
+    0.6428357571958268,
+    0.33303198985147975,
+    0.7446916992837107
+  ],
+  "state_std": [
+    0.2683079942625492,
+    0.49397999953443894,
+    0.7116275863613626,
+    0.0863303256771851,
+    0.2536969177573476,
+    0.12431329410721423,
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+    0.4361829436610984,
+    0.20584316497547753,
+    0.012226535339531603,
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+    0.024777917928288925,
+    0.02592809044300148,
+    0.027406209598646557,
+    0.6116293968793719,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.07282476928606404,
+    0.4672142228707635,
+    0.08570231718668414,
+    0.050775017259960864,
+    0.3755911293556228,
+    0.08515301498968324,
+    0.2683079942625492,
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+    0.0001,
+    0.0001,
+    0.0001,
+    0.43344649245212896,
+    0.4269817223040968,
+    0.09753884520681355
+  ],
+  "action_mean": [
+    -0.21752528825970402,
+    -0.24006965736761113,
+    -3.072832681952021,
+    0.00010428942406838776,
+    0.0031873178344488,
+    -0.0018408643369009312,
+    -0.0009427254132948039,
+    0.002665098180867446,
+    0.0,
+    0.29207820622965686
+  ],
+  "action_std": [
+    0.2703592681037448,
+    0.495285120035638,
+    0.7307466449575558,
+    0.04577854370438177,
+    0.024705104413849984,
+    0.04648459906415713,
+    0.008573562269112768,
+    0.014671315295897972,
+    0.0001,
+    0.8849999467001406
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        0,
+        12
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 12,
+      "slice": [
+        12,
+        24
+      ]
+    },
+    {
+      "path": "obs/extra/fridge_door_angles",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 2,
+      "slice": [
+        24,
+        26
+      ]
+    },
+    {
+      "path": "obs/extra/fridge_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        26,
+        29
+      ]
+    },
+    {
+      "path": "obs/extra/object_positions",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 6,
+      "slice": [
+        29,
+        35
+      ]
+    },
+    {
+      "path": "obs/extra/robot_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        35,
+        38
+      ]
+    },
+    {
+      "path": "obs/extra/table_position",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        38,
+        41
+      ]
+    },
+    {
+      "path": "obs/extra/task_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        41,
+        44
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      12
+    ],
+    [
+      12,
+      24
+    ],
+    [
+      24,
+      26
+    ],
+    [
+      26,
+      29
+    ],
+    [
+      29,
+      35
+    ],
+    [
+      35,
+      38
+    ],
+    [
+      38,
+      41
+    ],
+    [
+      41,
+      44
+    ]
+  ],
+  "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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