# 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_100step | 0.0727 | 0.1199 | 0.0808 | 0.0911 | 0.8219 | 24.3255 |
| mv1_200step | 0.0679 | 0.1146 | 0.0790 | 0.0872 | 0.8159 | 24.0176 |
| mv2_100step | 0.1255 | 0.2031 | 0.1362 | 0.1549 | 0.7531 | 21.8569 |
| mv2_200step | 0.1599 | 0.2521 | 0.1673 | 0.1931 | 0.7290 | 20.6287 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| mv1_100step | 0.0262 | 0.0927 | 0.9657 | 0.9452 |
| mv1_200step | 0.0295 | 0.0745 | 0.9660 | 0.9543 |
| mv2_100step | 0.0471 | 0.0760 | 0.9616 | 0.9534 |
| mv2_200step | 0.0292 | 0.0797 | 0.9675 | 0.9509 |