Lightweight post-optimization framework for smoothing chunked robot action sequences.

Combines inference-aware chunk scheduling, linear blending, and jerk-minimizing trajectory optimization.

Improves motion continuity in dynamic manipulation tasks by reducing vibration and jitter.

Inference-induced time delay: Overlap chunks early to avoid delays during inference. 

Blending zone: Smooth transitions by blending actions in the overlap region. 

Jerk minimization: Refine the trajectory by minimizing jerk within safe limits.