analysis/perceptual_metrics_p0.md

Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)

Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.

Visual streams

Run	view_left LPIPS	view_middle LPIPS	view_right LPIPS	mean view LPIPS	mean view SSIM	mean view PSNR
vtwm_s2_window_ref_1v2t	0.1038	—	—	0.1038	0.8027	23.0192
vtwm_p0_episode_p01_ref_1v2t	0.1032	—	—	0.1032	0.8095	23.5344

Tactile streams

Run	tl LPIPS	tr LPIPS	tl SSIM	tr SSIM
vtwm_s2_window_ref_1v2t	0.0598	0.0765	0.9547	0.9561
vtwm_p0_episode_p01_ref_1v2t	0.0674	0.0836	0.9582	0.9573