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

Jul 15, 2026

Researchers introduce DECO, a decoupled multimodal diffusion transformer designed to disentangle and integrate vision, proprioception, and tactile signals for bimanual dexterous manipulation. Evaluated on the new DECO-50 dataset with real dual-arm robots, DECO achieves a 72.25% average success rate across tasks, outperforming baselines by 21%. A lightweight tactile adapter further improves success rates by 10.25% while requiring less than 10% of parameters to be tuned.

Why it matters: This work demonstrates a significant advance in robotic manipulation by efficiently integrating tactile sensing with other modalities, leading to improved performance on complex bimanual tasks.

Full story at: arXiv Robotics ↗