Work with ssh remote host that requires two-factor authentication?

[kflu]

I have a remote ssh host that requires two factor authentication. Everytime when I ssh <user>@remote. i got a prompt for me to enter yubikey codes (e.g., tap on the yubikey. It inputs a random string to the prompt).

When I use sshping user@remote, I got a prompt "Enter password for user ", which is wrong, because I use public key authentication (with two factor auth). If I did enter my password, or tap yubikey at the point, sshping says

*** Cannot authenticate user
*** Cannot establish ssh session

And exited with exit code 255.