Mini Diffuser: Fast Multi-Task Diffusion Policy Training Using Two-Level Mini-Batches

We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from a previously underexplored distinction between action diffusion and the image diffusion techniques that inspired it: In image generation, the target is high-dimensional. By contrast, in action generation, the dimensionality of the target is comparatively small, and only the image condition is high-dimensional. Our approach, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Mini Diffuser</i>, exploits this asymmetry by introducing <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">two-level minibatching</i>, which pairs multiple noised action samples with each vision-language condition, instead of the conventional one-to-one sampling strategy. To support this batching scheme, we introduce architectural adaptations to the diffusion transformer that prevent information leakage across samples while maintaining full conditioning access. In RLBench simulations, Mini-Diffuser achieves 95% of the performance of state-of-the-art multi-task diffusion policies, while using only 5% of the training time and 7% of the memory. Real-world experiments further validate that Mini-Diffuser preserves the key strengths of diffusion-based policies, including the ability to model multimodal action distributions and produce behavior conditioned on diverse perceptual inputs. Code available at mini-diffuse-actor.github.io along with videos and training logs.