diff --git a/preprocessed/PickPlacePen-v1/norm_stats.json b/preprocessed/PickPlacePen-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a239d19dc437804362ae6f66b0f92d5ec15dad
--- /dev/null
+++ b/preprocessed/PickPlacePen-v1/norm_stats.json
@@ -0,0 +1,191 @@
+{
+  "count": 5888,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 27,
+  "action_dim": 7,
+  "state_mean": [
+    0.016242578131907423,
+    -0.09632511024757956,
+    -0.08042965901654436,
+    -2.402961198038057,
+    -0.010958356718651143,
+    2.3557548145763576,
+    0.6344901672237078,
+    0.023118755947428366,
+    0.02312470315953998,
+    0.0027042047150861686,
+    0.04026256837768882,
+    -0.0022374453570644845,
+    0.0225078027981335,
+    3.281693594113744e-05,
+    -0.011970258804804235,
+    -0.00509405822897525,
+    -0.00037703728298556243,
+    -0.0003691264522894854,
+    0.10565919790583986,
+    0.002564894771991101,
+    0.0,
+    0.0,
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+    -0.031797096184091524,
+    0.15474625644001996,
+    0.2453870145636756,
+    0.2736981098297174
+  ],
+  "state_std": [
+    0.15966624512592834,
+    0.32651153477178435,
+    0.3070918921433205,
+    0.1996474119466195,
+    0.19058085307574893,
+    0.3828569142480907,
+    0.4874577289143576,
+    0.016042304624828377,
+    0.016046033727158095,
+    0.0736164030909918,
+    0.16458493412132713,
+    0.10428378481120361,
+    0.16276578117419352,
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+    0.13985320196804543,
+    0.025150944967900237,
+    0.025135066271202124,
+    0.05829947004052613,
+    0.05569227735679982,
+    0.0001,
+    1.0,
+    0.08891974943274167,
+    0.20909747844731036,
+    0.14586811129004693,
+    0.1287078099090324,
+    0.3742762480377996
+  ],
+  "action_mean": [
+    0.012444148013104414,
+    0.0001542943283983849,
+    -0.008399465948889925,
+    0.0,
+    -0.00557065225692223,
+    -0.001207651024717803,
+    -0.04585597826086956
+  ],
+  "action_std": [
+    0.031166141741874036,
+    0.05560802146088668,
+    0.07472625915556573,
+    0.0001,
+    0.057070319866675455,
+    0.01284821542647073,
+    0.9989480663466641
+  ],
+  "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/holder_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        18,
+        21
+      ]
+    },
+    {
+      "path": "obs/extra/is_pen_placed",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        21,
+        22
+      ]
+    },
+    {
+      "path": "obs/extra/pen_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        22,
+        25
+      ]
+    },
+    {
+      "path": "obs/extra/pen_xy_distance",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        25,
+        26
+      ]
+    },
+    {
+      "path": "obs/extra/placement_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        26,
+        27
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      21
+    ],
+    [
+      22,
+      25
+    ],
+    [
+      25,
+      26
+    ],
+    [
+      26,
+      27
+    ]
+  ],
+  "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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