# 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 |
|---|---|---|---|---|---|---|
| mv1_v2_stride2_p01 | 0.0591 | 0.0969 | 0.0683 | 0.0747 | 0.8334 | 24.9320 |
| mv1_v2_stride2_p01rand | 0.0540 | 0.0880 | 0.0634 | 0.0685 | 0.8440 | 25.4340 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| mv1_v2_stride2_p01 | 0.0706 | 0.1012 | 0.9607 | 0.9540 |
| mv1_v2_stride2_p01rand | 0.0752 | 0.1043 | 0.9592 | 0.9537 |