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| File | Benchmark | Description |
|---|---|---|
libero.pth | LIBERO | Vision-only policy |
dexjoco.pth | DexJoCo | Vision-only policy |
univtac.pth | UniVTAC | Vision-only policy |
univtac-p.pth | UniVTAC | Vision policy + plugin tactile adapter |
robotwin.pth | RoboTwin | Vision policy with a T5 text encoder |
| Model | Spatial | Object | Goal | Long | Average |
|---|---|---|---|---|---|
| DECO | 94.2% | 99.4% | 96.8% | 86.4% | 94.2% |
/B denotes a bimanual task:| Model | Hammer Nail | Click Mouse | Pick Bucket | Pinch Tongs | Fold Glasses | Water Plant | Unlock iPad /B | Hanoi /B | Assembly /B | Microwave /B | Photograph /B | Average |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DECO (rand-obj) | 68% | 90% | 80% | 46% | 50% | 88% | 40% | 18% | 0% | 64% | 76% | 56.4% |
| DECO (rand-full) | 66% | 82% | 88% | 52% | 52% | 80% | 40% | 24% | 16% | 72% | 66% | 58% |
| Model | grasp_classify | lift_can | lift_bottle | pull_out_key | put_bottle_in_shelf | insert_hole | insert_tube | insert_HDMI | Average |
|---|---|---|---|---|---|---|---|---|---|
| DECO (vision) | 96.0% | 99.0% | 100.0% | 96.0% | 90.0% | 63.0% | 88.0% | 25.0% | 82.1% |
| DECO.p (+tactile) | 99.0% | 99.0% | 100.0% | 96.0% | 93.0% | 59.0% | 88.0% | 23.0% | 82.1% |
| Task | Seen Clean | Seen Randomized | Seen Avg. | Unseen Clean | Unseen Randomized | Unseen Avg. |
|---|---|---|---|---|---|---|
| adjust_bottle | 100.00% | 100.00% | 100.00% | 99.00% | 99.00% | 99.00% |
| beat_block_hammer | 96.00% | 86.00% | 91.00% | 98.00% | 90.00% | 94.00% |
| blocks_ranking_rgb | 72.00% | 65.00% | 68.50% | 75.00% | 65.00% | 70.00% |
| blocks_ranking_size | 44.00% | 38.00% | 41.00% | 42.00% | 40.00% | 41.00% |
| click_alarmclock | 95.00% | 88.00% | 91.50% | 93.00% | 92.00% | 92.50% |
| click_bell | 95.00% | 95.00% | 95.00% | 94.00% | 90.00% | 92.00% |
| dump_bin_bigbin | 96.00% | 95.00% | 95.50% | 98.00% | 97.00% | 97.50% |
| grab_roller | 98.00% | 99.00% | 98.50% | 100.00% | 99.00% | 99.50% |
| handover_block | 97.00% | 86.00% | 91.50% | 97.00% | 87.00% | 92.00% |
| handover_mic | 100.00% | 96.00% | 98.00% | 99.00% | 97.00% | 98.00% |
| hanging_mug | 43.00% | 26.00% | 34.50% | 30.00% | 33.00% | 31.50% |
| lift_pot | 100.00% | 100.00% | 100.00% | 100.00% | 99.00% | 99.50% |
| move_can_pot | 85.00% | 83.00% | 84.00% | 77.00% | 79.00% | 78.00% |
| move_pillbottle_pad | 93.00% | 92.00% | 92.50% | 91.00% | 88.00% | 89.50% |
| move_playingcard_away | 100.00% | 96.00% | 98.00% | 98.00% | 99.00% | 98.50% |
| move_stapler_pad | 85.00% | 87.00% | 86.00% | 87.00% | 85.00% | 86.00% |
| open_laptop | 96.00% | 100.00% | 98.00% | 96.00% | 100.00% | 98.00% |
| open_microwave | 88.00% | 84.00% | 86.00% | 85.00% | 86.00% | 85.50% |
| pick_diverse_bottles | 84.00% | 77.00% | 80.50% | 85.00% | 74.00% | 79.50% |
| pick_dual_bottles | 90.00% | 92.00% | 91.00% | 93.00% | 93.00% | 93.00% |
| place_a2b_left | 63.00% | 59.00% | 61.00% | 62.00% | 58.00% | 60.00% |
| place_a2b_right | 53.00% | 47.00% | 50.00% | 49.00% | 50.00% | 49.50% |
| place_bread_basket | 92.00% | 81.00% | 86.50% | 92.00% | 86.00% | 89.00% |
| place_bread_skillet | 91.00% | 81.00% | 86.00% | 91.00% | 83.00% | 87.00% |
| place_burger_fries | 97.00% | 100.00% | 98.50% | 99.00% | 98.00% | 98.50% |
| place_can_basket | 79.00% | 71.00% | 75.00% | 78.00% | 74.00% | 76.00% |
| place_cans_plasticbox | 100.00% | 99.00% | 99.50% | 100.00% | 99.00% | 99.50% |
| place_container_plate | 99.00% | 97.00% | 98.00% | 95.00% | 97.00% | 96.00% |
| place_dual_shoes | 85.00% | 81.00% | 83.00% | 79.00% | 76.00% | 77.50% |
| place_empty_cup | 99.00% | 100.00% | 99.50% | 97.00% | 98.00% | 97.50% |
| place_fan | 92.00% | 93.00% | 92.50% | 93.00% | 99.00% | 96.00% |
| place_mouse_pad | 83.00% | 75.00% | 79.00% | 85.00% | 74.00% | 79.50% |
| place_object_basket | 89.00% | 89.00% | 89.00% | 86.00% | 83.00% | 84.50% |
| place_object_scale | 77.00% | 68.00% | 72.50% | 77.00% | 67.00% | 72.00% |
| place_object_stand | 90.00% | 87.00% | 88.50% | 96.00% | 85.00% | 90.50% |
| place_phone_stand | 83.00% | 85.00% | 84.00% | 77.00% | 83.00% | 80.00% |
| place_shoe | 98.00% | 98.00% | 98.00% | 98.00% | 100.00% | 99.00% |
| press_stapler | 82.00% | 84.00% | 83.00% | 81.00% | 87.00% | 84.00% |
| put_bottles_dustbin | 87.00% | 88.00% | 87.50% | 83.00% | 86.00% | 84.50% |
| put_object_cabinet | 75.00% | 84.00% | 79.50% | 84.00% | 79.00% | 81.50% |
| rotate_qrcode | 85.00% | 93.00% | 89.00% | 85.00% | 87.00% | 86.00% |
| scan_object | 88.00% | 89.00% | 88.50% | 92.00% | 90.00% | 91.00% |
| shake_bottle | 100.00% | 98.00% | 99.00% | 100.00% | 98.00% | 99.00% |
| shake_bottle_horizontally | 100.00% | 99.00% | 99.50% | 100.00% | 99.00% | 99.50% |
| stack_blocks_three | 85.00% | 83.00% | 84.00% | 85.00% | 81.00% | 83.00% |
| stack_blocks_two | 96.00% | 99.00% | 97.50% | 97.00% | 98.00% | 97.50% |
| stack_bowls_three | 83.00% | 83.00% | 83.00% | 81.00% | 78.00% | 79.50% |
| stack_bowls_two | 96.00% | 95.00% | 95.50% | 99.00% | 98.00% | 98.50% |
| stamp_seal | 61.00% | 75.00% | 68.00% | 69.00% | 71.00% | 70.00% |
| turn_switch | 63.00% | 72.00% | 67.50% | 69.00% | 64.00% | 66.50% |
| Overall | 86.56% | 84.76% | 85.66% | 86.32% | 84.36% | 85.34% |
hf download BAAI-Humanoid/DECO_sim --repo-type model --local-dir ./sim_ckpt/sim branch.robotwin branch.1@article{li2026deco,
2 title={DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter},
3 author={Xukun Li and Yu Sun and Lei Zhang and Bosheng Huang and Yibo Peng and Yuan Meng and Haojun Jiang and Shaoxuan Xie and Guacai Yao and Alois Knoll and Zhenshan Bing and Xinlong Wang and Zhenguo Sun},
4 journal={arXiv preprint arXiv:2602.05513},
5 year={2026}
6}