Mini Diffuser trains multi-task robotic diffusion policies by reusing each vision-language condition for many noised action samples, reaching 77.6% RLBench success with 4.8% of the training time and 6.6% of the memory of 3D Diffuser Actor.
Planning with diffusion for flexible behavior synthesis,
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Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
Mini Diffuser trains multi-task robotic diffusion policies by reusing each vision-language condition for many noised action samples, reaching 77.6% RLBench success with 4.8% of the training time and 6.6% of the memory of 3D Diffuser Actor.