Autoloading dependencies with Grape as a stand-alone API?

All my search efforts and reading of the documentation for Grape seems to indicate that autoloading is a feature provided when Grape is used in combination with another framework, such as Sinatra or Rails. I'm using Grape API as a stand alone application, and with many modules and classes I'm finding I have to explicitly define require_relatives throughout my app.

My question is, does Grape provide an autoloader similar to this out of the box?

Start with Grape's standalone usage and dependency-loading documentation, then review the reported use of require_relatives. Done would require a clear decision and documented answer about whether Grape supports autoloading out of the box; no source file, test, or implementation scope is identified.