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Add student onnx export #26

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1 change: 1 addition & 0 deletions requirements.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ git+https://github.com/ZhengyiLuo/SMPLSim.git@dd65a86
easydict
warp-lang
dataclass-wizard
onnxscript

-e neural_wbc/core
-e neural_wbc/data
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7 changes: 7 additions & 0 deletions scripts/rsl_rl/players.py
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Expand Up @@ -70,6 +70,13 @@ def __init__(self, args_cli: argparse.Namespace, randomize: bool, custom_config:
student_cfg = StudentPolicyTrainerCfg(**config_dict)
student_trainer = StudentPolicyTrainer(env=self.wrapped_env, cfg=student_cfg)
self.policy = student_trainer.get_inference_policy(device=self.env.device)

# export student policy to onnx
onnx_program = torch.onnx.export(self.policy, self.wrapped_env.get_observations(), dynamo=True)
export_model_dir = os.path.join(student_path, "exported")
os.makedirs(export_model_dir, exist_ok=True)
onnx_program.save(os.path.join(export_model_dir, "policy.onnx"))

else:
raise ValueError("student_policy.resume_path is needed for play or eval. Please specify a value.")
else:
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