{"id":"https://openalex.org/W4416214699","doi":"https://doi.org/10.1109/lra.2025.3632751","title":"Mini Diffuser: Fast Multi-Task Diffusion Policy Training Using Two-Level Mini-Batches","display_name":"Mini Diffuser: Fast Multi-Task Diffusion Policy Training Using Two-Level Mini-Batches","publication_year":2025,"publication_date":"2025-11-14","ids":{"openalex":"https://openalex.org/W4416214699","doi":"https://doi.org/10.1109/lra.2025.3632751"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3632751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632751","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056518878","display_name":"Yutong Hu","orcid":"https://orcid.org/0000-0002-6030-3113"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Yutong Hu","raw_affiliation_strings":["Department Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-6030-3113","affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048813179","display_name":"Pinhao Song","orcid":"https://orcid.org/0000-0002-3950-0403"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Pinhao Song","raw_affiliation_strings":["Department Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-3950-0403","affiliations":[{"raw_affiliation_string":"Department Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113150806","display_name":"Kehan Wen","orcid":"https://orcid.org/0000-0003-0411-4489"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kehan Wen","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Zurich, Switzerland","Dept. Electrical Engineering, ETH Z&#x00FC;rich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0411-4489","affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Z&#x00FC;rich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dept. Electrical Engineering, ETH Z&#x00FC;rich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049896600","display_name":"Renaud Detry","orcid":"https://orcid.org/0000-0003-0597-1167"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Renaud Detry","raw_affiliation_strings":["Department Electrical Engineering, Research unit Processing Speech and Images, KU Leuven, Leuven, Belgium","Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-0597-1167","affiliations":[{"raw_affiliation_string":"Department Electrical Engineering, Research unit Processing Speech and Images, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056518878"],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32940582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"938","last_page":"945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.41269999742507935,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.41269999742507935,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.2401999980211258,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.11110000312328339,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.605400025844574},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.545799970626831},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.44369998574256897},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.384799987077713},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.38269999623298645},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.365200012922287},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.33239999413490295},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.33239999413490295}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6506999731063843},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.605400025844574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5785999894142151},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.545799970626831},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3896999955177307},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.384799987077713},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.38269999623298645},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.365200012922287},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.33239999413490295},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.33239999413490295},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C55128770","wikidata":"https://www.wikidata.org/wiki/Q5275440","display_name":"Diffusion map","level":4,"score":0.33219999074935913},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3197999894618988},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.30239999294281006},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2718999981880188},{"id":"https://openalex.org/C203504353","wikidata":"https://www.wikidata.org/wiki/Q4765461","display_name":"Anisotropic diffusion","level":3,"score":0.26899999380111694},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C2777042071","wikidata":"https://www.wikidata.org/wiki/Q6509304","display_name":"Leakage (economics)","level":2,"score":0.25780001282691956}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3632751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632751","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/777534","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/777534","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol. 11 (1), (938-945)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,27],"method":[3],"that":[4,39,114,156],"reduces,":[5],"by":[6,78],"an":[7],"order":[8],"of":[9,56,95,131,134,143,149,162],"magnitude,":[10],"the":[11,35,45,54,57,64,96,111,132,144,150,159,166],"time":[12,146],"and":[13,34,62,147,173,188],"memory":[14],"needed":[15],"to":[16,110,168],"train":[17],"multi-task":[18,136],"vision-language":[19,92],"robotic":[20],"diffusion":[21,33,37,112,137],"policies.":[22],"This":[23],"improvement":[24],"arises":[25],"from":[26],"previously":[28],"underexplored":[29],"distinction":[30],"between":[31],"action":[32,52,88,171],"image":[36,43,65],"techniques":[38],"inspired":[40],"it:":[41],"In":[42,125],"generation,":[44,53],"target":[46,58],"is":[47,59,67],"high-dimensional.":[48,68],"By":[49],"contrast,":[50],"in":[51],"dimensionality":[55],"comparatively":[60],"small,":[61],"only":[63,141],"condition":[66],"Our":[69],"approach,":[70],"<italic":[71,80],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[72,81],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Mini":[73],"Diffuser</i>,":[74],"exploits":[75],"this":[76,103],"asymmetry":[77],"introducing":[79],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">two-level":[82],"minibatching</i>,":[83],"which":[84],"pairs":[85],"multiple":[86],"noised":[87],"samples":[89,119],"with":[90,186],"each":[91],"condition,":[93],"instead":[94],"conventional":[97],"one-to-one":[98],"sampling":[99],"strategy.":[100],"To":[101],"support":[102],"batching":[104],"scheme,":[105],"we":[106],"introduce":[107],"architectural":[108],"adaptations":[109],"transformer":[113],"prevent":[115],"information":[116],"leakage":[117],"across":[118],"while":[120,139],"maintaining":[121],"full":[122],"conditioning":[123],"access.":[124],"RLBench":[126],"simulations,":[127],"Mini-Diffuser":[128,157],"achieves":[129],"95%":[130],"performance":[133],"state-of-the-art":[135],"policies,":[138,164],"using":[140],"5%":[142],"training":[145,189],"7%":[148],"memory.":[151],"Real-world":[152],"experiments":[153],"further":[154],"validate":[155],"preserves":[158],"key":[160],"strengths":[161],"diffusion-based":[163],"including":[165],"ability":[167],"model":[169],"multimodal":[170],"distributions":[172],"produce":[174],"behavior":[175],"conditioned":[176],"on":[177],"diverse":[178],"perceptual":[179],"inputs.":[180],"Code":[181],"available":[182],"at":[183],"mini-diffuse-actor.github.io":[184],"along":[185],"videos":[187],"logs.":[190]},"counts_by_year":[],"updated_date":"2025-12-03T23:09:05.601824","created_date":"2025-11-14T00:00:00"}