analysis/perceptual_metrics_ckpt_progression.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
contact_ep9	—	—	—	0.1023	0.8125	24.7171
contact_ep14	—	—	—	0.0460	0.8894	28.2838
causal_ep6	—	—	—	0.0915	0.8257	25.4535
causal_ep10	—	—	—	0.0441	0.9008	29.1089

Tactile streams

Run	tl LPIPS	tr LPIPS	tl SSIM	tr SSIM
contact_ep9	0.0597	0.0807	0.9656	0.9632
contact_ep14	0.0430	0.0816	0.9668	0.9600
causal_ep6	0.0589	0.0768	0.9638	0.9632
causal_ep10	0.0531	0.0761	0.9664	0.9625