{"artifact_id":"L1-450","layer":"L1","title":"Trajectory Optimization","domain":"Robotics","sub_domain":"Motion planning","physics_fingerprint":{"L_DAG":4.5,"title":"Trajectory Optimization","domain":"Robotics","carrier":"N/A","primitives":["O.iter","O.nlp.ipopt_solver","S.warm_start.previous_solution"],"sub_domain":"Motion planning","noise_model":"deterministic","problem_class":"nonlinear_inverse","solution_space":"optimal_trajectory","difficulty_delta":5,"integration_axis":"time_motion","sensing_mechanism":"trajectory_collocation_optimization"},"observable_profile":{"metric":"trajectory_feasibility_score","regime":"Existence of the recovered optimal_trajectory 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 ~= 2000); dynamic_obstacle_uncertainty dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Deterministic sets the irreducible data-fidelity floor.","secondary":"cost_optimality_ratio"},"size_tiers":{"center_spec":{"omega":{"N_dof":7,"N_obstacles":5,"T_horizon_s":2.0,"joint_vel_limit_rad_s":3.0},"input_format":"measurement_only","problem_class":"nonlinear_inverse","forward_operator":"trajectory_collocation_optimization","epsilon_fn_center":"0.90 trajectory_feasibility_score"},"omega_bounds":{"N_dof":[2,10],"N_obstacles":[0,50],"T_horizon_s":[0.1,10.0],"joint_vel_limit_rad_s":[0.5,10.0]},"epsilon_bounds":{"trajectory_feasibility_score":[0.5,1.0]},"allowed_problem_classes":["nonlinear_inverse"],"allowed_omega_dimensions":["N_dof","N_obstacles","T_horizon_s","joint_vel_limit_rad_s"],"allowed_forward_operators":["trajectory_collocation_optimization"]},"hardness_fn":{"type":"epsilon_fn","delta":5,"kappa":100000.0,"metric":"trajectory_feasibility_score"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0x38eb01210eabcb3a5332e1ed7af46f1d3174e9b47b5c86b0e58a61c232a60444","chain_tx_hash":"0xbabdd5d7bfcb62e05846f35f2b2727783978de136f9fd3e13e333a533a3581c7","chain_block":41555278}