The poke creator seems to have a very dim view of 010.
Exactly. Much worse syntax choices. Would not want to spend my time with it, when I have much more with 101.
But it least the VM is much faster than 101
https://ide.kaitai.io/ has a yaml syntax, and its online editor has tons of examples.
https://www.sweetscape.com/010editor/
It lets you write "templates" in a weird hybrid syntax that looks a lot like a C header file but also allows control statements that can decode complicated data structures in a few lines of script. It looks to have very similar capabilities to GNU Poke, but with a GUI.