# 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 |
|---|---|---|---|---|---|---|
| 08c_mv1_p01_3v2t_SHIFT+DELTA_EPISODE_P01 val 0.0157 | 0.0758 | 0.1218 | 0.0851 | 0.0942 | 0.8208 | 24.2324 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| 08c_mv1_p01_3v2t_SHIFT+DELTA_EPISODE_P01 val 0.0157 | 0.0682 | 0.1207 | 0.9623 | 0.9523 |