# 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 |
|---|---|---|---|---|---|---|
| 01_vo_right | — | — | — | 0.0846 | 0.8344 | 24.2489 |
| 02_p3_mv2t | — | — | — | 0.0779 | 0.8302 | 24.4826 |
| 03_p4_mv2t_extr_BLOWUP | — | — | — | 0.3528 | 0.5864 | 19.0398 |
| 04_p4_gate | 0.2230 | 0.3514 | 0.1980 | 0.2575 | 0.6541 | 19.1114 |
| 05_vtwm_s1_1v2t_shift | 0.1280 | — | — | 0.1280 | 0.7822 | 22.2944 |
| 06_vtwm_s2_1v2t_shift_delta | 0.1038 | — | — | 0.1038 | 0.8027 | 23.0192 |
| 07_mv2_3v2t_campose_delta | 0.1255 | 0.2031 | 0.1362 | 0.1549 | 0.7531 | 21.8569 |
| 08_mv1_3v2t_delta | 0.0727 | 0.1199 | 0.0808 | 0.0911 | 0.8219 | 24.3255 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| 01_vo_right | 0.5728 | 0.5730 | 0.4415 | 0.4322 |
| 02_p3_mv2t | 0.0576 | 0.0741 | 0.9682 | 0.9604 |
| 03_p4_mv2t_extr_BLOWUP | 0.0694 | 0.0938 | 0.9588 | 0.9544 |
| 04_p4_gate | 0.0613 | 0.0822 | 0.9685 | 0.9600 |
| 05_vtwm_s1_1v2t_shift | 0.0763 | 0.0706 | 0.9569 | 0.9649 |
| 06_vtwm_s2_1v2t_shift_delta | 0.0598 | 0.0765 | 0.9547 | 0.9561 |
| 07_mv2_3v2t_campose_delta | 0.0471 | 0.0760 | 0.9616 | 0.9534 |
| 08_mv1_3v2t_delta | 0.0262 | 0.0927 | 0.9657 | 0.9452 |