BAAI-Humanoid/DECO-50

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter DECO-50 is a bimanual dexterous manipulation dataset with tactile sensing, comprising 50 hours of teleoperated data across 4 scenarios and 28 subtasks, totaling over 5 million frames collected on real dual-arm robots. Dataset Structure DECO-50/ ├── task1/ │ ├── sub_task_1/ │ │ ├── episode_000000/ │ │ │… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-Humanoid/DECO-50.