# 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 |
|---|---|---|---|---|---|---|
| vo_v0 | — | — | — | 0.1189 | 0.8033 | 23.3838 |
| mm_v0 | — | — | — | 0.0952 | 0.8157 | 23.8735 |
| vo_left | — | — | — | 0.0853 | 0.8194 | 24.2979 |
| vo_middle | — | — | — | 0.1094 | 0.7672 | 23.2652 |
| vo_right | — | — | — | 0.0846 | 0.8344 | 24.2489 |
| p3_mv2t | — | — | — | 0.0779 | 0.8302 | 24.4826 |
| p4_mv2t_extr | — | — | — | 0.3528 | 0.5864 | 19.0398 |
| p4_gate | 0.2230 | 0.3514 | 0.1980 | 0.2575 | 0.6541 | 19.1114 |
| p5_gate | 0.1383 | 0.2098 | 0.1518 | 0.1666 | 0.7372 | 21.6778 |

## Tactile streams

| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
|---|---|---|---|---|
| vo_v0 | 0.5820 | 0.5614 | 0.4372 | 0.4347 |
| mm_v0 | 0.0917 | 0.0435 | 0.9575 | 0.9694 |
| vo_left | 0.5728 | 0.5731 | 0.4415 | 0.4322 |
| vo_middle | 0.5728 | 0.5731 | 0.4415 | 0.4322 |
| vo_right | 0.5728 | 0.5731 | 0.4415 | 0.4322 |
| p3_mv2t | 0.0576 | 0.0741 | 0.9682 | 0.9604 |
| p4_mv2t_extr | 0.0694 | 0.0938 | 0.9588 | 0.9544 |
| p4_gate | 0.0613 | 0.0822 | 0.9685 | 0.9600 |
| p5_gate | 0.0603 | 0.0791 | 0.9683 | 0.9598 |