# 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 |