# 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 |
|---|---|---|---|---|---|---|
| vtwm_s2_window_ref_1v2t | 0.1038 | — | — | 0.1038 | 0.8027 | 23.0192 |
| vtwm_p0_episode_p01_ref_1v2t | 0.1032 | — | — | 0.1032 | 0.8095 | 23.5344 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| vtwm_s2_window_ref_1v2t | 0.0598 | 0.0765 | 0.9547 | 0.9561 |
| vtwm_p0_episode_p01_ref_1v2t | 0.0674 | 0.0836 | 0.9582 | 0.9573 |