DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

Researchers developed DECO, a multimodal diffusion transformer for bimanual robot manipulation that integrates vision, proprioception, and tactile signals. The system achieved 72.25% success rate on complex manipulation tasks, with a 21% improvement over baseline methods when tested on over 2,000 robot rollouts.