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The onset of rapid slip along initially quiescent frictional interfaces, theprocess of `earthquake nucleation', and dissipative spatiotemporal slippagedynamics play important roles in a broad range of physical systems. Here wefirst show that interfaces described by generic friction laws featurestress-dependent steady-state slip pulse solutions, which are unstable in thequasi-1D approximation of thin elastic bodies. We propose that such unstableslip pulses of linear size $L^*$ and characteristic amplitude are `criticalnuclei' for rapid slip in a non-equilibrium analogy to equilibrium first-orderphase transitions, and quantitatively support this idea by dynamicalcalculations. We then perform 2D numerical calculations that indicate that thenucleation length $L^*$ exists also in 2D, and that the existence of a fracturemechanics Griffith-like length $L_G\!<\!L^*$ gives rise to a richerphase-diagram that features also sustained slip pulses.

Unstable slip pulses and earthquake nucleation as a non-equilibrium first-order phase transition