Sharp large time behaviour in $N$-dimensional reaction-diffusion equations of bistable type

We study the large time behaviour of the reaction-diffsuion equation $\partial_t u=\Delta u +f(u)$ in spatial dimension $N$, when the nonlinear term is bistable and the initial datum is compactly supported. We prove the existence of a Lipschitz function $s^\infty$ of the unit sphere, such that $u(t,x)$ converges uniformly in $\mathbb{R}^N$, as $t$ goes to infinity, to $U_{c_*}\bigg(|x|-c_*t + \frac{N-1}{c_*} \mathrm{ln}t + s^\infty\Big(\frac{x}{|x|}\Big)\bigg)$, where $U_{c*}$ is the unique 1D travelling profile. This extends earlier results that identified the locations of the level sets of the solutions with $o_{t\to+\infty}(t)$ precision, or identified precisely the level sets locations for almost radial initial data.