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python3 -m lerobot.scripts.train --dataset.repo_id=DRMNmadhan/merged_new2 (570 episodes) --policy.type=smolvla --batch_size=10 --steps=200000 --eval_freq=500 --save_freq=20000 --policy.device=cuda --policy.push_to_hub=true --policy.repo_id=DRMNmadhan/smolvla_train --save_checkpoint=false --wandb.enable=true --dataset.video_backend=pyav --policy.n_obs_steps=2 --policy.optimizer_lr=5.5e-5 --policy.freeze_vision_encoder=false --policy.train_expert_only=false --policy.scheduler_decay_steps=200000 --policy.load_vlm_weights=true --policy.num_steps=20 --policy.n_action_steps=25 --policy.chunk_size=25 --log_freq=5000