If you're using HDMI to connect to the Pioneer receiver and carrying the audio through the HDMI port, you will probably not see any significant difference using a USB DAC. In fact, it could get worse.
Think about this: You now, you have a direct digital connection to your receiver.
[mini] --> HDMI --> [receiver]
Add a USB DAC to the mix:
[mini] --> DAC --> analog cables --> [receiver]
Yes, ANALOG cables. You're bypassing the receiver's own DAC (and I like the sound of Pioneer's DACs personally -- it's what I use at home) and feeding the receiver ANALOG audio from the USB DAC. During the transport from the USB DAC to the receiver, you have the possibility for interference and noise that you won't have with the HDMI connection.
There are some nice, expensive USB DACs out there and the audio quality might improve somewhat, but I think you're not going to get any significant sound benefit unless you're running Class-A amplifiers and $10,000 speakers.