arXiv subjects

Lixin Xu

Publications and source records attributed to Lixin Xu.

At least 37 records · Page 2Linked to original sources

arXiv2025

Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation

This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks under strict requirements for speed, precision, and reliability: unfolding a tablecloth (deformable-object manipulation), placing a pizza into the container (pick-and-place), and opening and closing a food container with the lid. Our solution combines VR-based teleoperation and Learning from Demonstrations (LfD) to balance robustness and autonomy. Most subtasks were executed through high-fidelity remote teleoperation, while the pizza placement was handled by an ACT-based policy trained from 100 in-person teleoperated demonstrations with randomized initial configurations. By carefully integrating scoring rules, task characteristics, and current technical capabilities, our approach achieved both high efficiency and reliability, ultimately securing the first place in the competition.

cs.RO↗

arXiv2025

DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction

Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object interactions, leading to artifacts like interpenetration. Generative methods, lacking human hand priors, produce limited and unnatural poses. We propose a data transformation pipeline that combines human hand and object data from multiple sources for high-precision retargeting. Our approach uses a differential loss constraint to ensure temporal consistency and generates contact maps to refine hand-object interactions. Experiments show our method significantly improves pose accuracy, naturalness, and diversity, providing a robust solution for hand-object interaction modeling.

cs.RO↗

arXiv2024

Detection of gamma-ray burst Amati relation based on Hubble data set and Pantheon+ samples

Using gamma-ray bursts as standard candles for cosmological parameter constraints rely on their empirical luminosity relations and low-redshift calibration. In this paper, we examine the Amati relation and its potential corrections based on the A118 sample of higher-quality gamma-ray bursts, using both Hubble data set and Pantheon+ samples as calibration samples in the redshift range of z < 1.965. In calibrating gamma-ray bursts using these two datasets, we employ Gaussian processes to obtain corresponding Hubble diagrams to avoid the dependence on cosmological models in the calibration process. We first divided the low-redshift sample of GRBs into two bins and examined the Amati relation and its potential modifications. We found that under both calibrations, the Amati relation did not show evidence of redshift evolution (68% confidence level). For the other two Amati relations that include redshift evolution terms, the central values of the redshift evolution coefficients deviated from 0, but due to the limitations of the sample size and the increase in the number of parameters, most of the redshift evolution coefficients were not able to be excluded from 0 at the 1 sigma level. Therefore, to assess their situation across the entire redshift range, we employed MCMC to globally fit three types of Amati relations. By computing AIC and BIC, we found that for the GRB A118 sample, the standard Amati relation remains the most fitting empirical luminosity formula, and no potential redshift evolution trend was observed for two different low-redshift calibrating sources.

astro-ph.CO↗

arXiv2024

Kinetically Coupled Scalar Fields Model and Cosmological Tensions

In this paper, we investigate the kinetically coupled early dark energy (EDE) and scalar field dark matter to address cosmological tensions. The EDE model presents an intriguing theoretical approach to resolving the Hubble tension, but it exacerbates the large-scale structure tension. We consider the interaction between dark matter and EDE, such that the drag of dark energy on dark matter suppresses structure growth, which can alleviate large-scale structure tension. We replace cold dark matter with scalar field dark matter, which has the property of suppressing structure growth on small scales. We employed the Markov Chain Monte Carlo method to constrain the model parameters, our new model reveals a non-zero coupling constant of $0.030 \pm 0.026$ at a 68% confidence level. The coupled model yields the Hubble constant value of $72.38^{+0.71}_{-0.82}$ km/s/Mpc, which resolves the Hubble tension. However, similar to the EDE model, it also obtains a larger $S_8$ value compared to the $Λ$CDM model, further exacerbating the large-scale structure tension. The EDE model and the new model yield the best-fit values of $0.8316$ and $0.8146$ for $S_8$, respectively, indicating that the new model partially alleviates the negative effect of the EDE model. However, this signature disappears when comparing marginalised posterior probabilities, and both models produce similar results. The values obtained from the EDE model and the new model are $0.822^{+0.011}_{-0.0093}$ and $0.819^{+0.013}_{-0.0092}$, respectively, at a 68% confidence level.

astro-ph.CO↗

arXiv2024

Cosmological Constraints on Thermal Friction of Axion Dark Matter

In this paper, we investigate the process in which axion dark matter undergoes thermal friction, resulting in energy injection into dark radiation, with the aim of mitigating the Hubble tension and large-scale structure tension. In the early universe, this scenario led to a rapid increase in the energy density of dark radiation; in the late universe, the evolution of axion dark matter is similar to that of cold dark matter, with this scenario resembling decaying dark matter and serving to ease the large-scale structure tension. We employ cosmological observational data, including cosmic microwave background (CMB), baryon acoustic oscillation (BAO), supernova data (SNIa), $H_0$ measurement from SH0ES, and $S_8$ from the Dark Energy Survey Year-3 (DES), to study and analyze this model. Our results indicate that the thermal friction model offers partial alleviation of the large-scale structure tension, while its contribution on alleviating Hubble tension can be ignored. The new model yields the value of $S_8$ is $0.795\pm 0.011$ at a 68% confidence level, while the $Λ$CDM model yields a result of $0.8023\pm 0.0085$. In addition, the new model exhibits a lower $χ^2_\mathrm{tot}$ value, with a difference of -2.60 compared to the $Λ$CDM model. Additionally, we incorporate Lyman-$α$ data to re-constrain the new model and find a slight improvement in the results, with the values of $H_0$ and $S_8$ being $68.76^{+0.39}_{-0.35}$ km/s/Mpc and $0.791\pm 0.011$ at a 68% confidence level, respectively.

astro-ph.CO↗

arXiv2024

Mitigating Cosmological Tensions via Momentum-Coupled Dark Sector Model

In this paper, we investigate the momentum coupling between early dark energy (EDE) and cold dark matter to alleviate cosmological tensions. EDE has exhibited promising efficacy in addressing the Hubble tension, but it exacerbates the large-scale structure tension. We consider the interaction between EDE and cold dark matter, introducing a pure momentum exchange between them to alleviate the large-scale structure tension introduced by the EDE model. We find that this coupling model is consistent with the EDE model, yielding a higher value for $H_0$, which can resolve the Hubble tension. Additionally, the new model exhibits a suppressive effect on structure growth, contributing to the alleviation of the large-scale structure tension. By utilizing the Markov Chain Monte Carlo method and incorporating various cosmological data, the coupling model constrains the best-fit values for $H_0$ to be $72.23$ km/s/Mpc and for $S_8$ to be 0.8192. Compared to the $Λ$CDM model, the new models have not fully resolved the large-scale structure tension. However, in contrast to the best-fit value of 0.8316 for $S_8$ obtained from the EDE model, the new model alleviates the negative impact of the EDE model.

astro-ph.CO↗

arXiv2024

Coupled Dark Sector Models and Cosmological Tensions

In this paper, we introduce two coupling models of early dark energy (EDE) and cold dark matter aimed at alleviating cosmological tensions. We utilize the EDE component in the coupling models to relieve the Hubble tension, while leveraging the interaction between dark matter and dark energy to alleviate the large-scale structure tension. The interaction is implemented in the form of pure momentum coupling and Yukawa coupling. We employed various cosmological datasets, including cosmic microwave background radiation, baryon acoustic oscillations, Type Ia supernovae, the local distance-ladder data (SH0ES), and the Dark Energy Survey Year-3 data, to analyze our models. We first exclude SH0ES data from the entire dataset to constrain the parameters of novel models. We observe that the constraints on $H_0$ from two coupling models are slightly higher than that from the $Λ$CDM model, but they exhibit a significant inconsistency with the SH0ES data, consistent with prior research findings in the EDE model. Subsequently, we incorporate SH0ES data to re-constrain the parameters of various models, our findings reveal that both coupling models yield best-fit values for $H_0$ approximately around $72.23$ km/s/Mpc, effectively mitigating the Hubble tension. Similar to the EDE model, the coupling models yield the $S_8$ values that still surpasses the result of the $Λ$CDM model. Nevertheless, the best-fit values for $S_8$ obtained with the two new models are 0.8192 and 0.8177, respectively, which are lower than the 0.8316 achieved by the EDE model. Consequently, although our coupling models fail to fully resolve the large-scale structure tension, they partially mitigate the adverse effect of the original EDE model.

astro-ph.CO↗

arXiv2023

Cosmography via Gaussian Process with Gamma Ray Bursts

In this paper, we firstly calibrate the Amati relation (the $E_{\rm p}-E_{\rm iso}$ correlation) of gamma ray bursts (GRBs) at low redshifts ($z<0.8$) via Gaussian process by using the type Ia supernovae samples from Pantheon+ under the philosophy that objects at the same redshift should have the same luminosity distance in any cosmology. As a result, this calibration derives the distance moduli of GRBs at high redshifts ($z>0.8$). For an application of these derived distance modulus of GRBs to cosmology, via Gaussian process again, a series of cosmography parameters, which describe kinematics of our Universe, up to the fifth oder and the redshift $z\sim 5$, i.e. the Hubble parameter $H(z)$, the deceleration parameter $q(z)$, the jerk parameter $j(z)$, the snap parameter $s(z)$ and the lerk parameter $l(z)$, are reconstructed from the cosmic observations. The reconstructed cosmography parameters show a transition singularity at $z\sim 6$, it may resort to two possible explanations: one is that the GRBs data points at high redshift $z>5$ are still reliable, it means that new physics beyond the $Λ$CDM model happens; another one is that the quality and quantity of GRBs data points at high redshift $z>5$ are not good enough to give any viable prediction of the kinematics of our Universe. To pin down this problem, more high redshifts $z>5$ cosmic observational are still needed.

astro-ph.CO↗

arXiv2023

Data-driven and Almost Model-independent Reconstruction of Modified Gravity

In this paper, a modified factor $μ$, which characterizes modified gravity in the linear matter density perturbation theory, is reconstructed in a data-driven and almost model-independent way via Gaussian process by using currently available cosmic observations. Utilizing the Pantheon+ SNe Ia samples, the observed Hubble parameter $H(z)$ and the redshift space distortion $fσ_8(z)$ data points, one finds out a time varying $μ$ at low redshifts. The reconstructed $μ$ implies that more complicated modified gravity beyond the simplest general relativity and the Dvali-Gabadadze-Porrati braneworld model is required.

astro-ph.CO↗

arXiv2023

A Measurement of Hubble Constant Using Cosmographic Approach from Fast Radio Bursts and SNe Ia

The Hubble constant ${H}_0$ is a crucial parameter in cosmology. However, different cosmic observations have resulted in varying posterior results for ${H}_0$, leading to what is known as the ${H}_0$ tension. In order to address this issue, it is beneficial to use other dataset to constrain ${H}_0$. In this paper, via the cosmographic approach based on the Friedman-Lemaitre-Robertson-Walker (FLRW) metric to the dispersion measure of the intergalactic medium ${\rm{DM}}_{\rm{IGM}}(z)$ of Fast Radio Bursts (FRBs), we obtain the Taylor expansion of $\langle{\rm{DM}}_{\rm{IGM}}(z)\rangle$ in terms redshift $z$. The result for Hubble constant $H_0=65.5^{+6.4}_{-5.4}$ ${\rm{km~s^{-1}~Mpc^{-1}}}$ $(68$$\%$ ${\rm{C.L.}}) $, cosmological deceleration parameter $q_0=-0.50\pm 0.20 $ and the jerk parameter $j_0=-0.1^{+2.0}_{-2.5}$ using uncalibrated Supernova Ia (SNe Ia) Pantheon dataset combined with 18 localized FRBs are obtained. To demonstrate the impact of parameter degeneracies on our analysis methods, we compare the results using three different forms of $f_{\rm{IGM}}(z)$ and two different prior distributions for $Ω_{\rm{b,0}}$. Then we find that the uncertainty in $H_0$ is not significantly affected by the prior range of $f_{\rm{IGM}}(z)$ and $Ω_{\rm{b,0}}$, but the mean value is influenced by the priors for $f_{\rm{IGM}}(z)$ and $Ω_{\rm{b,0}}$ due to parameter degeneracies with $H_0$. Employing $f_{\rm{IGM}}(z)$ that evolves with redshift, we obtain the constraints for $H_0=69.0^{+6.7}_{-5.7}$ ${\rm{km~s^{-1}~Mpc^{-1}}}$. Furthermore, the mock analyses give a posterior estimation of $H_0$ with an accuracy of 4.6\% and higher precision for $q_0$ and $j_0$ in the near future.

astro-ph.CO↗

arXiv2023

Alleviating Cosmological Tensions with a Coupled Scalar Fields Model

In this paper, we investigate the interaction between early dark energy (EDE) and scalar field dark matter, proposing a coupled scalar fields model to address the Hubble tension and $S_8$ tension. While the EDE model successfully alleviates the Hubble tension, it exacerbates the $S_8$ tension. To mitigate the negative impact of EDE, we introduce the interaction between EDE and dark matter. Specifically, we replace cold dark matter with scalar field dark matter, given its capability to suppress structure growth on small scales. We constrained the new model using cosmological observations including the temperature and polarization anisotropy power spectra data of cosmic microwave background radiation (CMB) from \textit{Planck} 2018 results, baryon acoustic oscillations (BAO) measurements extracted from 6dFGS, SDSS and BOSS, the Pantheon sample of type Ia supernovae (SNIa), the local distance-ladder data (SH0ES), and the Dark Energy Survey Year-3 data. Employing Markov Chain Monte Carlo method, we find that this novel model yields best-fit values of $H_0$ and $S_8$ equal to $71.13$ km/s/Mpc and $0.8256$, respectively. Compared to the $Λ$CDM model, the new model alleviates the Hubble tension but still fails to resolve the $S_8$ tension. However, we obtain a smaller value of $S_8$ compared to the result of $0.8316$ obtained for EDE model, which mitigates to some extent the shortcoming of the EDE model.

astro-ph.CO↗

arXiv2022

Equality scale-based and sound horizon-based analysis of the Hubble tension

The Hubble horizon at matter-radiation equality ($k^{-1}_{\rm{eq}}$) and the sound horizon at the last scattering surface ($r_s(z_*)$) provides interesting consistency check for the $Λ$CDM model and its extensions. It is well known that the reduction of $r_s$ can be compensated by the increase of $H_0$, while the same is true for the standard rulers $k_{\rm{eq}}$. Adding extra radiational component to the early universe can reduce $k_{\rm{eq}}$. The addition of early dark energy (EDE), however, tends to increase $k_{\rm{eq}}$. We perform $k_{\rm{eq}}$- and $r_s$-based analyses in both the EDE model and the Wess-Zumino Dark Radiation (WZDR) model. In the latter case we find $ΔH_0 = 0.4$ between the $r_s$- and $k_{\rm{eq}}$-based datasets, while in the former case we find $ΔH_0 = 1.2$. This result suggests that the dark radiation scenario is more consistent in the fit of the two standard rulers ($k_{\rm{eq}}$ and $r_s$). As a forecast analyses, we fit the two models with a mock $k_{\rm{eq}}$ prior derived from \emph{Planck} best-fit $Λ$CDM model. Compared with the best-fit $H_0$ in baseline $Λ$CDM model, we find $ΔH_0 = 1.1$ for WZDR model and $ΔH_0 = - 2.4$ for EDE model.

astro-ph.CO↗

arXiv2022

Limit on the dark matter mass from its interaction with photons

In this work, we explore the phenomenology of generalized dark matter (GDM) which interacts with photons ($γ$). We assume that DM establishes elastic scattering with $γ$ when it has already become nonrelativistic, otherwise the abundance of DM today is disfavored by current observations. Within this scenario, the equation of state (EoS) of DM is determined by its mass ($m_χ$) and the DM-$γ$ scattering cross-section. The distinctive imprints of a nonzero EoS of DM on CMB angular power spectrum allow us to set a lower limit on $m_χ$ with Planck 2018 data alone, i.e., $m_χ > 8.7$ keV at $95\%$ C.L. In the study of cosmic concordance problems, we find that the GDM scenario preserves the sound horizon ($r_s(z_*)$) predicted in the fiducial $Λ$CDM model, and thus does not solve the $H_0$ tension. When performing the joint analysis of Planck+LSS datasets, the best-fit $S_8= 0.785\pm 0.017$ closely matches the given $S_8$ prior. This suggests that the GDM scenario can be counted as a viable candidate to restore the $S_8$ ($σ_{8}$) tension.

astro-ph.CO↗

arXiv2022

Comparing the scalar-field dark energy models with recent observations

We investigate the general properties of a class of scalar-field dark energy models (i.e., $ϕ$CDM models) which behave like cosmological trackers at early times. Particularly, we choose three $ϕ$CDM models with typical potentials, i.e., $V(ϕ)\propto ϕ^{-α}$ (inverse power-law (IPL) model), $V(ϕ)\propto \coth^αϕ$ (L-model) and $V(ϕ)\propto \cosh(αϕ)$ (Oscillatory tracker model), where the latter two models are based on the $α$-attractors originated from the study of inflation. These models, which reduce to the $Λ$CDM model with $α\to 0$, are studied and compared with the recent observations, including the Pantheon sample of type Ia supernovae (SNe Ia), baryon acoustic oscillations (BAO) measurements extracted from 6dFGS, BOSS and eBOSS, as well as the temperature and polarization anisotropy power spectra data of cosmic microwave background radiation (CMB) from Planck 2018 results. The observational constraints from the combining sample (SNe Ia + BAO + CMB) indicate that none of the three $ϕ$CDM models exclude the $Λ$CDM model at $68.3\%$ confidence level. We find that the CMB anisotropy data have obvious advantages in constraining the dark energy models compared with other cosmological probes, which is particularly evident in the L-model. Furthermore, we apply the Bayesian evidence to compare the $ϕ$CDM models and the $Λ$CDM model with the analysis of the combining sample. The concordance $Λ$CDM model is still the most supported one. In addition, among the three $ϕ$CDM models, the IPL model is the most competitive one, while the L-model/Oscillatory tacker model is moderately/strongly disfavored.

astro-ph.CO↗

arXiv2022

Can phantom transition at $z\sim 1$ restore the Cosmic concordance?

The tension among inferences of Hubble constant ($H_0$) is found in a large array of datasets combinations. Modification to the late expansion history is the most direct solution to this discrepancy. In this work, we examine the viability of restoring the cosmological concordance with a novel version of transitional dark energy (TDE). The main anchors for the cosmic distance scale: cosmic microwave background (CMB) radiation, baryon acoustic oscillation (BAO), and Type Ia supernova (SNe Ia) calibrated by Cepheids form a "impossible trinity", i.e., it's plausible to reconcile with any two of the three but unlikely to accommodate them all. Particularly, the tension between BAO and the calibrated SNe Ia can not be reconciled within the scenarios of late dark energy. Nevertheless, our analysis suggests that the TDE model can reconcile with CMB and SNe Ia calibrated by its absolute magnitude ($M_{\rm{B}}$) when the equation of state (EoS) of DE transits around $z\sim1$. Meanwhile, we see a positive sign that the EoS transits with the inclusion of a local prior on $M_{\rm{B}}$, whereas the opposite is true without the $M_{\rm{B}}$ prior.

astro-ph.CO↗

arXiv2021

How will our knowledge of short gamma-ray bursts affect the distance measurement of binary neutron stars?

GWs from BNS associated with SGRBs have drawn considerable attention due to their prospect in cosmology. For such events, the sky locations of sources can be pinpointed with techniques such as identifying the host galaxies. However, the cosmological applications of these events still suffer from the problem of degeneracy between luminosity distance and inclination angle. To address this issue, a technique was proposed in previous study, i.e., using the property of SGRBs. Based on the observations, we assume that the cosine of inclination follows a Gaussian distribution, which may act as a prior in the Bayes analysis to break the degeneracy. This paper investigates the effects of different Gaussian priors and detector configurations on distance measurement and cosmological research. We first derive a simplified Fisher information matrix for demonstration, and then conduct quantitative analyses via simulation. By varying the number of third-generation detectors and the scale of prior, we generate four catalogs of 1000 events. It is shown that, in the same detecting period, a network of detectors can recognize more and farther events than a single detector. Besides, adopting tighter prior and employing multiple detectors both decrease the error of luminosity distance. Also considered is the performance of a widely adopted formula in the error budget, which turns out to be a conservative choice in each case. As for cosmological applications, for LCDM model, 500, 200, 600, and 300 events are required for the four configurations to achieve 1% H_0 accuracy. With all 1000 events in each catalog, H_0 and Omega_m can be constrained to 0.66%, 0.37%, 0.76%, 0.49%, and 0.010, 0.006, 0.013, 0.010, respectively. The results of the Gaussian process also show that the GW standard siren can serve as a probe of high-redshift universe.

astro-ph.CO↗

arXiv2021

An Accelerated Stackelberg Game Approach for Distributed Energy Resource Aggregator participating in Energy and Reserve Markets Considering Security Check

With increasing distributed energy resoures (DERs) integration, the strategic behavior of a DER aggregator in electricity markets will significantly affect the secure operation of the distribution system. In this paper, the interactions among the DER aggregator, energy and reserve markets, and distribution system are investigated through a single-leader-multi-follower Stackelberg game model with the DER aggregator as the leader and the independent system operator and distribution system operator as the followers. To guarantee the operation security of the distribution system, security check problems under three different scenarios are involved in the follower level, which is linearized using a mixed-integer linearized power flow model. Then, using the strong duality theorem, the proposed model is converted into a bi-level mixed-integer linear (BMILP) programming model with only mixed-integer linear follower-level problems. Next, an accelerated relaxation-based bi-level reformulation and decomposition algorithm is proposed to solve the BMILP problem. Finally, case studies are carried out on a constructed integrated transmission and distribution (T&D) system and a practical integrated T&D system to verify the effectiveness of the proposed model and algorithm. The simulation results indicate that the available downward reserve of the DER aggregator will decrease with the security limitation of the distribution system.

eess.SY↗

arXiv2021

Testing the effect of $H_0$ on $fσ_8$ tension using a Gaussian Process method

Using the $fσ_8(z)$ redshift space distortion (RSD) data, the $σ_8^0-Ω_m^0$ tension is studied utilizing a parameterization of growth rate $f(z) = Ω_m(z)^γ$. Here, $f(z)$ is derived from the expansion history $H(z)$ which is reconstructed from the observational Hubble data applying the Gaussian Process method. It is found that different priors of $H_0$ have great influences on the evolution curve of $H(z)$ and the constraint of $σ_8^0-Ω_m^0$. When using a larger $H_0$ prior, the low redshifts $H(z)$ deviate significantly from that of the $Λ$CDM model, which indicates that a dark energy model different from the cosmological constant can help to relax the $H_0$ tension problem. The tension between our best-fit values of $σ_8^0-Ω_m^0$ and that of the \textit{Planck} 2018 $Λ$CDM (PLA) will disappear (less than $1σ$) when taking a prior for $H_0$ obtained from PLA. Moreover, the tension exceeds $2σ$ level when applying the prior $H_0 = 73.52 \pm 1.62$ km/s/Mpc resulted from the Hubble Space Telescope photometry. By comparing the $S_8 -Ω_m^0$ planes of our method with the results from KV450+DES-Y1, we find that using our method and applying the RSD data may be helpful to break the parameter degeneracies.

astro-ph.CO↗