ONNX Export Checkpoints about isaacgymenvs HOT 6 OPEN

Hi I created this examples how to export. I wasn't able to make it work with torch distributions so I created simple wrapper which calls normalization.
You can take a look here: https://github.com/Denys88/rl_games#quickstart-colab-in-the-cloud (all links work in the google colab)

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I am trying to do the same job as you and get the .pth from Isaac gym examples converted to .onnx by copying your script I got the error below, could you tell me what I am doing wrong to not get the converison function to work?

I don't know if the image will be displayed so I'll write the error directly to you in case you can tell me what I'm doing wrong : TypeError: forward() missing 1 required positional argument: 'input_dict'.

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Hi, I am a little confused about your option of upgrade to 1.12. From pytorch/issues/30517, we know that 1.10 already supports the random normal-distribution. did you test that? I'm very glad to get your feedback

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Hi Annan; it’s been a while since I had this set up. I’d have to run the steps again to see the exact error message, but I recall it being pernicious until upgrading the PyTorch version, and relating to the random normal distribution function.

Perhaps you can replicate the steps with the current version and see if it still happens?

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Hi, I guess it is because the torch.onnx.export() use the default version=9 for opeset_version in pytorch 1.10. You can manually set it with opset_version=11, then all things goes well. My current pytorch version is 1.10, it works well. I tested it today.

Back to the original topic, I think it would be a better choice that you only export onnx after checking it is a mature policy. And only export the self.player.model.a2cnetwork + self.player.model.running_mean_std part. These two parts are enough for inference.

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Sorry friend, I haven't seen that error before.

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