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lerobot/smolvla_base on manavgoel4/package-pick-place.lerobot/smolvla_basemanavgoel4/package-pick-placesmolvla-package-pick-placeabs40_nact20_fullft_100k_a100chunk_size=40 means the model predicts a 4-second action chunk.n_action_steps=20 means rollout executes 2 seconds before re-planning.