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BAAI-Humanoid/
DECO-50

Name: DECO-50
Creator: BAAI-Humanoid
License: https://spdx.org/licenses/Apache-2.0.html

robotics

reinforcement-learning

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	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.