---
orphan: true
---

# {py:mod}`agents.components.vla`

```{py:module} agents.components.vla
```

```{autodoc2-docstring} agents.components.vla
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`VLA <agents.components.vla.VLA>`
  - ```{autodoc2-docstring} agents.components.vla.VLA
    :summary:
    ```
````

### API

`````{py:class} VLA(*, inputs: typing.List[agents.ros.Topic], outputs: typing.List[agents.ros.Topic], model_client: agents.clients.lerobot.LeRobotClient, config: agents.config.VLAConfig, component_name: str, **kwargs)
:canonical: agents.components.vla.VLA

Bases: {py:obj}`agents.components.model_component.ModelComponent`

```{autodoc2-docstring} agents.components.vla.VLA
```

````{py:method} custom_on_activate()
:canonical: agents.components.vla.VLA.custom_on_activate

```{autodoc2-docstring} agents.components.vla.VLA.custom_on_activate
```

````

````{py:method} custom_on_deactivate()
:canonical: agents.components.vla.VLA.custom_on_deactivate

```{autodoc2-docstring} agents.components.vla.VLA.custom_on_deactivate
```

````

````{py:method} set_termination_trigger(mode: typing.Literal[timesteps, pynput.keyboard, event] = 'timesteps', max_timesteps: int = 100, stop_key: str = 'q', stop_event: typing.Optional[agents.ros.Event] = None)
:canonical: agents.components.vla.VLA.set_termination_trigger

```{autodoc2-docstring} agents.components.vla.VLA.set_termination_trigger
```

````

````{py:method} signal_done()
:canonical: agents.components.vla.VLA.signal_done

```{autodoc2-docstring} agents.components.vla.VLA.signal_done
```

````

````{py:method} set_aggregation_function(agg_fn: typing.Callable[[numpy.ndarray, numpy.ndarray], numpy.ndarray])
:canonical: agents.components.vla.VLA.set_aggregation_function

```{autodoc2-docstring} agents.components.vla.VLA.set_aggregation_function
```

````

````{py:method} main_action_callback(goal_handle: agents.ros.VisionLanguageAction.Goal)
:canonical: agents.components.vla.VLA.main_action_callback

```{autodoc2-docstring} agents.components.vla.VLA.main_action_callback
```

````

`````