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

Xinlong Wang, Lei Zhang, Yu Sun, Alois Knoll, Haojun Jiang, G Wang, M Chen, Ben Amor, M Sharma, M Kim, Yuan Meng, L Chen, and 15 more

arXiv · PDF · Open in the Atlas

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Abstract

Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer that disentangles vision, proprioception, and tactile signals through specialized conditioning pathways, enabling structured and controllable integration of multimodal inputs, with a lightweight adapter for parameter-efficient injection of additional signals. Alongside DECO, we release DECO-50 dataset for bimanual dex-

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