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For example we have asymmetric signature scheme(RSA or ECC based) and VRF(also can be RSA/ECC based), both of them can be verified using public key of the signer/hasher and also are unique for each message. So what is the difference?

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First, you need more than just a signature, because a VRF produces both an output and a proof. To an observer, the output is uniformly distributed unless the observer also has the proof, which can be used to verify the output.

With a signature scheme and a random oracle $H$, you could use a signature $s$ on a message $m$ as a proof and $h = H(s)$ as an output: then the output $h$ is uniformly distributed if you don't know the proof, but knowing the proof $s$ you can (a) verify that $s$ is a signature on $m$, and (b) verify that $h = H(s)$.

However, that's not enough, because signature schemes do not usually guarantee uniqueness of the signature. ECDSA signatures are malleable: if $(x(R), s)$ is an ECDSA signature, then so is $(x(-R), -s) = (x(R), -s)$. EdDSA signatures, of the form $(R, s)$ instead, hash $R$ together with the message so it can't be changed any more than the message can, but $(R, s + \ell)$ makes another valid signature if encodable, where $\ell$ is the order of the standard base point.

Further, ECDSA and EdDSA are necessarily randomized, and the signer can choose any per-signature secret nonce they want without the verifier noticing. Standard EdDSA prescribes a particular nonce so that the signer doesn't accidentally leak the private key when signing two different messages, but verifiers can't tell if a signer uses a different nonce. Similarly, the widely deployed RSASSA-PSS signature scheme is randomized, so it doesn't provide uniqueness either.

That said, we can still use the RSA primitive to make a VRF if we pick a deterministic RSA signature scheme such as RSA-FDH with a fixed full-domain hash. This is what the IETF Internet-Draft draft-goldbe-vrf, currently under discussion at the CFRG, does for RSA-FDH-VRF.

We can also adapt elliptic curve signatures such as EdDSA to make a VRF, with a little more work. I won't go into the details, but draft-goldbe-vrf has one construction called EC-VRF, and Open Whisper Systems (creators of Signal) developed another called VXEdDSA.

Further reading:

P.S. Fun fact: RSA signatures aren't uniformly distributed even if you don't know the public key. Since every signature will involve an integer below the modulus $n$, with enough signatures one can solve the German tank problem to deanonymize signers in practice. Of course, you could do rejection sampling to force them below $2^{\lfloor\lg n\rfloor}$.

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