@article{trainamultitaskdiffusionpolicyon,
  title = {Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches},
  author = {Yutong Hu and Pinhao Song and Kehan Wen and Renaud Detry},
  year = {2025},
  eprint = {2505.09430},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.09430v2},
}