I used the manual here (https://usermanual.wiki/Red-Bear/DUO/html), and ran these commands
dfu-util -d 2b04:d058 -a 0 -s 0x8020000 -D duo-system-part1-v0.3.3.bin
dfu-util -d 2b04:d058 -a 0 -s 0x8040000 -D duo-system-part2-v0.3.3.bin
Everything seemed to work well and the # filled up but now now device appears and when I press and hold setup while connecting USB, the red light flashes.