Citrea, which has been live on mainnet since January, uses basically the entire BitVM stack to create ~ trustless proof of a valid withdrawal.
https://eprint.iacr.org/2025/776But then it also lets N of N signers just sign off an exit unconditionally?. Section 8 of their Clementine bridge protocol paper:
"Optimistic Payout. The protocol we described above guarantees that any peg out is completed
even if all Signers are offline and all but one are malicious. However, if all Signers are honest and
online, they have some time (in Clementine, it is ≃ 1 hour) to sign an issue a user’s peg out by
posting an OptimisticPayout transaction. This transaction resembles the Payout transaction, with
only two differences: (i) it spends the output of the MoveToVault transaction, so that the funds
given to the user do not come from the Operator, and (ii) there is no OP RETURN output. If no
OptimisticPayout transaction appears on-chain within some time, the peg out request is picked
up by the Operator and the Clementine continue as described in Section 5. To enable the optimistic
payout, Signers must not erase their keys, making the protocol secure against a non-adaptive adversary."
I've spent the last half hour trying to find any discussion of this. It looks like a very bizarre decision as it seems to throw away most advantages over multisig federation control. Notice how the signing keys have to remain essentially hot.