Lucy is going to Jupiter's Trojans. Psyche is going to the large metal asteroid (named Psyche 16). Two missions, one article.
The Trojans are made of the primordial stuff of the solar system, without much in the way of changing via pummeling, heating, irradiating, etc. Lucy is hoped to give us insight on the origins of the solar system, like Lucy the Preserved gave us great insight into the origins of modern humans. Lucy the Preserved was named after the Beatles' song, if I recall.
Psyche 16 is presumed to be the exposed core of a broken planet(-oid?) that may tell us a lot about the earth's core, which we can't get to owing to geology.