Yubin Ke

Hongyin Chen, Yubin Ke, Xiaotie Deng et al.

Smart contracts, the stateful programs running on blockchains, often rely on reports. Publishers are paid to publish these reports on the blockchain. Designing protocols that incentivize timely reporting is the prevalent reporting problem. But existing solutions face a security-performance trade-off: Relying on a small set of trusted publishers introduces centralization risks, while allowing open publication results in an excessive number of reports on the blockchain. We identify the root cause of this trade-off to be the standard symmetric reward design, which treats all reports equally. We prove that no symmetric-reward mechanism can overcome the trade-off. We present Personal Random Rewards for Reporting (Prrr), a protocol that assigns random heterogeneous values to reports. We call this novel mechanism-design concept Ex-Ante Synthetic Asymmetry. To the best of our knowledge, Prrr is the first game-theoretic mechanism (in any context) that deliberately forms participant asymmetry. Prrr employs a second-price-style settlement to allocate rewards, ensuring incentive compatibility and achieving both security and efficiency. Following the protocol constitutes a Subgame-Perfect Nash Equilibrium, robust against collusion and Sybil attacks. Prrr is applicable to numerous smart contracts that rely on timely reports.

Jiayi Chen, Yubin Ke, Lin Peng et al.

Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset that covers numerous grasp types (i.e., at least those categorized by the GRASP taxonomy), but collecting such data is extremely challenging. Existing automatic grasp synthesis methods are often limited to specific grasp types or object categories, hindering scalability. This work proposes an efficient pipeline capable of synthesizing contact-rich, penetration-free, and physically plausible grasps for any grasp type, object, and articulated hand. Starting from a single human-annotated template for each hand and grasp type, our pipeline tackles the complicated synthesis problem with two stages: optimize the object to fit the hand template first, and then locally refine the hand to fit the object in simulation. To validate the synthesized grasps, we introduce a contact-aware control strategy that allows the hand to apply the appropriate force at each contact point to the object. Those validated grasps can also be used as new grasp templates to facilitate future synthesis. Experiments show that our method significantly outperforms previous type-unaware grasp synthesis baselines in simulation. Using our algorithm, we construct a dataset containing 10.7k objects and 9.5M grasps, covering 31 grasp types in the GRASP taxonomy. Finally, we train a type-conditional generative model that successfully performs the desired grasp type from single-view object point clouds, achieving an 82.3% success rate in real-world experiments. Project page: https://pku-epic.github.io/Dexonomy.

Yubin Ke, Jiayi Chen, Hang Lv et al.

Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across multiple contacts to counteract an object's weight, and (2) preventing rotational slip caused by gravitational torque when a grasp is distant from the object's center of mass. We address these challenges via tactile feedback and a Second-Order Cone Programming (SOCP)-based controller, without explicit torque modeling or slip detection. Our key insights are (1) rotational slip inevitably induces translational slip at some contact points for a multi-fingered grasp, and (2) the ratio of tangential to normal force at each contact is an effective early stability indicator. By actively constraining this ratio for each finger below the estimated friction coefficient, our controller maintains grasp stability against both translational and rotational slip. Real-world experiments on 12 diverse objects demonstrate the robustness and compliance of our approach.