Improved Fourier feature encoder with logarithmically-spaced frequencies.

Masks out the logits for discrete trajectory tokens.

Basic MLP encoder.

Stopping criteria that stops the generation after one more token is generated after the first EOS token is generated.

Action space base class for the trajectory generation.

Expert model for reasoning VLA.

Configuration for the Alpamayo R1 release model.

Base class for diffusion models.

Delta trajectory tokenizers.

Discrete trajectory tokenizer.

Flow Matching model. References: Flow Matching for Generative Modeling https://arxiv.org/pdf/2210.02747 Guided Flows for Generati

Improved per-waypoint action input projection module. It uses FourierEncoderV2 with logarithmically-spaced frequencies and includes layer normali

A multi-GPU-friendly python command line logger.

Reasoning Vision-Language-Action model.

Configuration for the ReasoningVLA model.

Mixin class providing trajectory fusion functionality.

Unicycle Kinematic Model with acceleration and curvature as control inputs.