{"artifact_id":"L1-449","layer":"L1","title":"Inverse Dynamics","domain":"Robotics","sub_domain":"Robot dynamics","physics_fingerprint":{"L_DAG":2.8,"title":"Inverse Dynamics","domain":"Robotics","carrier":"N/A","primitives":["D.time","S.regressor.inertia_parameters","O.least_squares.param_id"],"sub_domain":"Robot dynamics","noise_model":"gaussian","problem_class":"linear_inverse","solution_space":"joint_torque_vector","difficulty_delta":3,"integration_axis":"kinematic_chain","sensing_mechanism":"trajectory_to_torque_computation"},"observable_profile":{"metric":"torque_prediction_RMSE_Nm","regime":"Existence of the recovered joint_torque_vector is guaranteed within the declared Omega bounds. Uniqueness holds on the measurement-supported subspace; out-of-support modes are controlled by declared priors. Stability is conditionally stable (kappa_eff ~= 50); acceleration_estimation_noise dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Gaussian sets the irreducible data-fidelity floor.","secondary":"parameter_identification_RMSE"},"size_tiers":{"center_spec":{"omega":{"N_joints":6,"N_trajectory_samples":1000,"acceleration_noise_dB":-20,"excitation_bandwidth_Hz":2.0},"input_format":"measurement_only","problem_class":"linear_inverse","forward_operator":"trajectory_to_torque_computation","epsilon_fn_center":"2.0 torque_prediction_RMSE_Nm"},"omega_bounds":{"N_joints":[2,10],"N_trajectory_samples":[100,10000],"acceleration_noise_dB":[-40,-10],"excitation_bandwidth_Hz":[0.5,10.0]},"epsilon_bounds":{"torque_prediction_RMSE_Nm":[0.1,20.0]},"allowed_problem_classes":["linear_inverse"],"allowed_omega_dimensions":["N_joints","excitation_bandwidth_Hz","acceleration_noise_dB","N_trajectory_samples"],"allowed_forward_operators":["trajectory_to_torque_computation"]},"hardness_fn":{"type":"epsilon_fn","delta":3,"kappa":1000,"metric":"torque_prediction_RMSE_Nm"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0x05dca4b066ca2181478e5dde661fff6d429d658391f8d205a7ccbd4316bcd3d8","chain_tx_hash":"0x1e99291f16a45bd235ea8ad95190dcb336d08df6075a294179eb3a1572cc29ae","chain_block":41555277}