analysis/perceptual_metrics_steps.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
mv1_100step	0.0727	0.1199	0.0808	0.0911	0.8219	24.3255
mv1_200step	0.0679	0.1146	0.0790	0.0872	0.8159	24.0176
mv2_100step	0.1255	0.2031	0.1362	0.1549	0.7531	21.8569
mv2_200step	0.1599	0.2521	0.1673	0.1931	0.7290	20.6287

Tactile streams

Run	tl LPIPS	tr LPIPS	tl SSIM	tr SSIM
mv1_100step	0.0262	0.0927	0.9657	0.9452
mv1_200step	0.0295	0.0745	0.9660	0.9543
mv2_100step	0.0471	0.0760	0.9616	0.9534
mv2_200step	0.0292	0.0797	0.9675	0.9509