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 |