# 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 | 0.1814 | 0.2775 | 0.1626 | 0.2072 | 0.7058 | 19.5672 |
| cosmos_v3_causal | 0.1590 | 0.2540 | 0.1541 | 0.1891 | 0.7260 | 20.2259 |
| cosmos_v3_contact | 0.1616 | 0.2376 | 0.1514 | 0.1835 | 0.7232 | 20.4268 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| cosmos_v3 | 0.1176 | 0.0303 | 0.9433 | 0.9717 |
| cosmos_v3_causal | 0.1246 | 0.0244 | 0.9422 | 0.9728 |
| cosmos_v3_contact | 0.1163 | 0.0297 | 0.9436 | 0.9705 |