analysis/perceptual_metrics_val.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
vo_v0	—	—	—	0.1189	0.8033	23.3838
mm_v0	—	—	—	0.0952	0.8157	23.8735
vo_left	—	—	—	0.0853	0.8194	24.2979
vo_middle	—	—	—	0.1094	0.7672	23.2652
vo_right	—	—	—	0.0846	0.8344	24.2489
p3_mv2t	—	—	—	0.0779	0.8302	24.4826
p4_mv2t_extr	—	—	—	0.3528	0.5864	19.0398
p4_gate	0.2230	0.3514	0.1980	0.2575	0.6541	19.1114
p5_gate	0.1383	0.2098	0.1518	0.1666	0.7372	21.6778

Tactile streams

Run	tl LPIPS	tr LPIPS	tl SSIM	tr SSIM
vo_v0	0.5820	0.5614	0.4372	0.4347
mm_v0	0.0917	0.0435	0.9575	0.9694
vo_left	0.5728	0.5731	0.4415	0.4322
vo_middle	0.5728	0.5731	0.4415	0.4322
vo_right	0.5728	0.5731	0.4415	0.4322
p3_mv2t	0.0576	0.0741	0.9682	0.9604
p4_mv2t_extr	0.0694	0.0938	0.9588	0.9544
p4_gate	0.0613	0.0822	0.9685	0.9600
p5_gate	0.0603	0.0791	0.9683	0.9598