diff --git a/preprocessed/DualArmCleanupPotEnv-v1/norm_stats.json b/preprocessed/DualArmCleanupPotEnv-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0b7d9cfea6da09160c1a2ca94de9650e89786b
--- /dev/null
+++ b/preprocessed/DualArmCleanupPotEnv-v1/norm_stats.json
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+{
+  "count": 14865,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera_0",
+    "robot_camera_1",
+    "top_camera"
+  ],
+  "state_dim": 47,
+  "action_dim": 14,
+  "state_mean": [
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+    0.3606750530047293,
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+    1.0
+  ],
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+    0.0001,
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+    0.0001,
+    0.0001,
+    0.006146627422163083,
+    0.997693663507838
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/panda-0/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        0,
+        9
+      ]
+    },
+    {
+      "path": "obs/agent/panda-0/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        9,
+        18
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        18,
+        27
+      ]
+    },
+    {
+      "path": "obs/agent/panda-1/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 9,
+      "slice": [
+        27,
+        36
+      ]
+    },
+    {
+      "path": "obs/extra/left_cube_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        36,
+        39
+      ]
+    },
+    {
+      "path": "obs/extra/left_in",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        39,
+        40
+      ]
+    },
+    {
+      "path": "obs/extra/pot_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        40,
+        43
+      ]
+    },
+    {
+      "path": "obs/extra/right_cube_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        43,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/right_in",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      9
+    ],
+    [
+      9,
+      18
+    ],
+    [
+      18,
+      27
+    ],
+    [
+      27,
+      36
+    ],
+    [
+      36,
+      39
+    ],
+    [
+      40,
+      43
+    ],
+    [
+      43,
+      46
+    ]
+  ],
+  "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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