Defi based Trust Instrument

In traditional CeFi, "a trust is a fiduciary relationship in which one party, known as a trustor, gives another party, the trustee, the right to hold title to property or assets for the benefit of a third party, the beneficiary."

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Is there a smart contract/Defi project existing or in development which uses a decentralised, corruption resistant process to fulfil the role of the trustee? i.e. a smart contract which can be given funds, then figure out who the beneficiary is and provide them funds upon arbitrary rules stipulated in the trust agreement.

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I understand there's many challenges to this working correctly. I'm searching for a proof of concept or testnet/alpha versions of something like this if one exists.