analysis/perceptual_metrics_cosmos_causal_contact.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
cosmos_v3	—	—	—	0.0700	0.8602	26.8406
cosmos_v3_causal	—	—	—	0.0441	0.9008	29.1089
cosmos_v3_contact	—	—	—	0.0460	0.8894	28.2838

Tactile streams

Run	tl LPIPS	tr LPIPS	tl SSIM	tr SSIM
cosmos_v3	0.0567	0.0452	0.9607	0.9699
cosmos_v3_causal	0.0531	0.0761	0.9664	0.9625
cosmos_v3_contact	0.0430	0.0816	0.9668	0.9600