{"artifact_id":"L1-453","layer":"L1","title":"Vehicle Dynamics (Bicycle Model)","domain":"Robotics","sub_domain":"Autonomous vehicles","physics_fingerprint":{"L_DAG":3.0,"title":"Vehicle Dynamics (Bicycle Model)","domain":"Robotics","carrier":"N/A","primitives":["D.time","S.tire.pacejka_model","O.ekf.vehicle_state"],"sub_domain":"Autonomous vehicles","noise_model":"gaussian","problem_class":"parameter_estimation","solution_space":"vehicle_state_vector","difficulty_delta":3,"integration_axis":"time","sensing_mechanism":"vehicle_state_estimation"},"observable_profile":{"metric":"yaw_rate_RMSE_deg_s","regime":"Existence of the recovered vehicle_state_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 ~= 80); tire_force_saturation dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Gaussian sets the irreducible data-fidelity floor.","secondary":"side_slip_angle_RMSE_deg"},"size_tiers":{"center_spec":{"omega":{"road_mu":0.8,"speed_m_s":20,"vehicle_mass_kg":1500,"lateral_acceleration_m_s2":3.0},"input_format":"measurement_only","problem_class":"parameter_estimation","forward_operator":"vehicle_state_estimation","epsilon_fn_center":"1.0 yaw_rate_RMSE_deg_s"},"omega_bounds":{"road_mu":[0.3,1.2],"speed_m_s":[5,50],"vehicle_mass_kg":[500,5000],"lateral_acceleration_m_s2":[0.5,10.0]},"epsilon_bounds":{"yaw_rate_RMSE_deg_s":[0.1,10.0]},"allowed_problem_classes":["parameter_estimation"],"allowed_omega_dimensions":["vehicle_mass_kg","speed_m_s","lateral_acceleration_m_s2","road_mu"],"allowed_forward_operators":["vehicle_state_estimation"]},"hardness_fn":{"type":"epsilon_fn","delta":3,"kappa":2000,"metric":"yaw_rate_RMSE_deg_s"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0xc079116e269d4400b1e08b23e98cfacd962ca5f3d799db830a3c0c80b5339c60","chain_tx_hash":"0x96bc7f9c7d1a5b61c977fc9baccc0d68aaa3c34c9fccdfc81b6e2b8d132e9333","chain_block":41555278}