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.

Shape assembly, the process of combining parts into a complete whole, is a crucial skill for robots with broad real-world applications. Among the various assembly tasks, geometric assembly—where broken parts are reassembled into their original form (e.g., reconstructing a shattered bowl)—is particularly challenging. This requires the robot to recognize geometric cues for grasping, assembly, and subsequent bimanual collaborative manipulation on varied fragments. In this paper, we exploit the geometric generalization of point-level affordance, learning affordance aware of bimanual collaboration in geometric assembly with long-horizon action sequences. To address the evaluation ambiguity caused by geometry diversity of broken parts, we introduce a real-world benchmark featuring geometric variety and global reproducibility. Extensive experiments demonstrate the superiority of our approach over both previous affordance-based and imitation-based methods.

Robotic dexterous grasping is important for interacting with the environment. To unleash the potential of data-driven models for dexterous grasping, a large-scale, highquality dataset is essential. While gradient-based optimization offers a promising way for constructing such datasets, previous works suffer from limitations, such as inefficiency, strong assumptions in the grasp quality energy, or limited object sets for experiments. Moreover, the lack of a standard benchmark for comparing different methods and datasets hinders progress in this field. To address these challenges, we develop a highly efficient synthesis system and a comprehensive benchmark with MuJoCo for dexterous grasping. We formulate grasp synthesis as a bilevel optimization problem, combining a novel lowerlevel quadratic programming (QP) with an upper-level gradient descent process. By leveraging recent advances in CUDAaccelerated robotic libraries and GPU-based QP solvers, our system can parallelize thousands of grasps and synthesize over 49 grasps per second on a single 3090 GPU. Our synthesized grasps for Shadow, Allegro, and Leap hands all achieve a success rate above 75 % in simulation, with a penetration depth under 1 mm, outperforming existing baselines on nearly all metrics. Compared to the previous large-scale dataset, DexGraspNet, our dataset significantly improves the performance of learning models, with a success rate from around 40 % to 80 % in simulation. Real-world testing of the trained model on the Shadow Hand achieves an 81 % success rate across 20 diverse objects. The codes and datasets are released on our project page: https://pku-epic.github.io/BODex.