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Rasa provides a framework to manage dialogue and conversational agents. Get started with a tutorial on building a voice agent with Rasa and Cartesia, from start to finish:

Tutorial: Build a Voice Agent with Rasa and Cartesia

Full tutorial for building a voice agent with Rasa and Cartesia.
 For implementation details, see their documentation:

Rasa > Docs > Cartesia

Rasa documentation for using Cartesia TTS.