Update
This works both on Dalvik and ART: new DexClassLoader(jarredDex.getAbsolutePath(), context.getDir("outdex", Context.MODE_PRIVATE).getAbsolutePath(), null, context.getClassLoader()); where jarredDex is a jar-file with classes.dex. Jar can be obtained by running dx --dex --output=filename.jar your/classes/dir.
Original answer
I've took a code sample from this article. But ART uses PathClassLoader instead of Dalvik's DexClassLoader. This code is tested on emulator with Android 6 and on Xiaomi with Android 5.1 and works fine:
// Before the secondary dex file can be processed by the DexClassLoader,
// it has to be first copied from asset resource to a storage location.
File dexInternalStoragePath = new File(getDir("dex", Context.MODE_PRIVATE), SECONDARY_DEX_NAME);
try (BufferedInputStream bis = new BufferedInputStream(getAssets().open(SECONDARY_DEX_NAME));
     OutputStream dexWriter = new BufferedOutputStream(new FileOutputStream(dexInternalStoragePath))) {
    byte[] buf = new byte[BUF_SIZE];
    int len;
    while((len = bis.read(buf, 0, BUF_SIZE)) > 0) {
        dexWriter.write(buf, 0, len);
    }
} catch (IOException e) {
    throw new RuntimeException(e);
}
try {
    PathClassLoader loader = new PathClassLoader(dexInternalStoragePath.getAbsolutePath(), getClassLoader());
    Class<?> toasterClass = loader.loadClass("my.package.ToasterImpl");
    Toaster toaster = (Toaster) toasterClass.newInstance();
    toaster.show(this, "Success!");
} catch (ReflectiveOperationException e) {
    throw new RuntimeException(e);
}