Usage Note
Chiper is a mild, colloquial verb for stealing something small, closer to 'to nick' or 'to pilfer' than to serious theft — on m'a chipé mon stylo means someone swiped my pen. It is informal and not appropriate in formal writing. The related noun chipeur/chipeuse means a petty pilferer.
Examples
"Quelqu'un a chipé mon stylo."
Natural Translation
Someone swiped my pen.

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