arXiv subjects

Xiaotian Ding

Publications and source records attributed to Xiaotian Ding.

4 recordsLinked to original sources

arXiv2026

DexViTac: Collecting Human Visuo-Tactile-Kinematic Demonstrations for Contact-Rich Dexterous Manipulation

Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile information during physical interactions. Motivated by this, we present DexViTac, a portable, human-centric data collection system tailored for contact-rich dexterous manipulation. The system enables the high-fidelity acquisition of first-person vision, high-density tactile sensing, end-effector poses, and hand kinematics within unstructured, in-the-wild environments. Building upon this hardware, we propose a kinematics-grounded tactile representation learning algorithm that effectively resolves semantic ambiguities within tactile signals. Leveraging the efficiency of DexViTac, we construct a multimodal dataset comprising over 2,400 visuo-tactile-kinematic demonstrations. Experiments demonstrate that DexViTac achieves a collection efficiency exceeding 248 demonstrations per hour and remains robust against complex visual occlusions. Real-world deployment confirms that policies trained with the proposed dataset and learning strategy achieve an average success rate exceeding 85% across four challenging tasks. This performance significantly outperforms baseline methods, thereby validating the substantial improvement the system provides for learning contact-rich dexterous manipulation. Project page: https://xitong-c.github.io/DexViTac/.

cs.RO↗

arXiv2024

Back-Propagating Rupture: Nature, Excitation, and Implications

Recent observations show that certain rupture phase can propagate backward relative to the earlier one during a single earthquake event. Such back-propagating rupture (BPR) was not well considered by the conventional earthquake source studies and remains a mystery to the seismological community. Here we present a comprehensive analysis of BPR, by combining theoretical considerations, numerical simulations, and observational evidences. First, we argue that BPR in terms of back-propagating stress wave is an intrinsic feature during dynamic ruptures; however, its signature can be easily masked by the destructive interference behind the primary rupture front. Then, we propose an idea that perturbation to an otherwise smooth rupture process may make some phases of BPR observable. We test and verify this idea by numerically simulating rupture propagation under a variety of perturbations, including a sudden change of stress, bulk or interfacial property and fault geometry along rupture propagation path. We further cross-validate the numerical results by available observations from laboratory and natural earthquakes, and confirm that rupture "reflection" at free surface, rupture coalescence and breakage of prominent asperity are very efficient for exciting observable BPR. Based on the simulated and observed results, we classify BPR into two general types: interface wave and high-order re-rupture, depending on the stress recovery and drop before and after the arrival of BPR, respectively. Our work clarifies the nature and excitation of BPR, and can help improve the understanding of earthquake physics, the inference of fault property distribution and evolution, and the assessment of earthquake hazard.

physics.geo-ph↗

arXiv2023

A WRF-UCM-SOLWEIG framework of 10m resolution to quantify the intra-day impact of urban features on thermal comfort

City-scale outdoor thermal comfort diagnostics are essential for understanding actual heat stress. However, previous research primarily focused on the street scale. Here, we present the WRF-UCM-SOLWEIG framework to achieve fine-grained thermal comfort mapping at the city scale. The background climate condition affecting thermal comfort is simulated by the Weather Research and Forecasting (WRF) model coupled with the urban canopy model (UCM) at a local-scale (500m). The most dominant factor, mean radiant temperature, is simulated using the Solar and Longwave Environmental Irradiance Geometry (SOLWEIG) model at the micro-scale (10m). The Universal Thermal Climate Index (UTCI) is calculated based on the mean radiant temperature and local climate parameters. The influence of different ground surface materials, buildings, and tree canopies is simulated in the SOLWEIG model using integrated urban morphological data. We applied this proposed framework to the city of Guangzhou, China, and investigated the intra-day variation in the impact of urban morphology during a heat wave period. Through statistical analysis, we found that the elevation in UTCI is primarily attributed to the increase in the fraction of impervious surface (ISF) during daytime, with a maximum correlation coefficient of 0.80. Tree canopy cover has a persistent cooling effect during the day. Implementing 40% of tree cover can reduce the daytime UTCI by 1.5 to 2.0 K. At nighttime, all urban features have a negligible contribution to outdoor thermal comfort. Overall, the established framework provides essential input data and references for studies and urban planners in the practice of urban (micro)climate diagnostics and planning.

physics.ao-ph↗

arXiv2023

The sharp turn: backward rupture branching during the 2023 Mw 7.8 Turkey earthquake

Multiple lines of evidence indicate that the 2023 Mw 7.8 Turkey earthquake started on a splay fault, then branched bilaterally onto the nearby East Anatolian Fault (EAF). This rupture pattern includes one feature deemed implausible, called backward rupture branching: rupture propagating from the splay fault onto the SW EAF segment through a sharp corner (with an acute angle between the two faults). To understand this feature, we perform 2.5-D dynamic rupture simulations considering a large set of possible scenarios. We find that both subshear and supershear ruptures on the splay fault can trigger bilateral ruptures on the EAF, which themselves can be either subshear, supershear, or a mixture of the two. In most cases, rupture on the SW segment of the EAF starts after rupture onset on its NE segment: the SW rupture is triggered by the NE rupture. Only when the EAF has initial stresses very close to failure, its SW segment can be directly triggered by the initial splay-fault rupture, earlier than the activation of the NE segment. These results advance our understanding of the mechanisms of multi-segment rupture and the complexity of rupture processes, paving the way for a more accurate assessment of earthquake hazards.

physics.geo-ph↗