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added failure if users try to determine export method for direct rl e… #7081

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Merged
kellyguo11 merged 5 commits into from
Aug 20, 2026
Merged

added failure if users try to determine export method for direct rl e… #7081

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f78d321
added failure if users try to determine export method for direct rl e…
frlai Aug 13, 2026
39d6e4f
Merge branch 'develop' into frlai/warn_direct_env_has_no_export_with
frlai Aug 14, 2026
54a62cf
Merge branch 'develop' into frlai/warn_direct_env_has_no_export_with
frlai Aug 18, 2026
3503b93
Merge branch 'develop' into frlai/warn_direct_env_has_no_export_with
frlai Aug 19, 2026
3f758b7
Merge branch 'develop' into frlai/warn_direct_env_has_no_export_with
frlai Aug 20, 2026
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6 changes: 3 additions & 3 deletions scripts/reinforcement_learning/leapp/export_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,9 @@ def add_common_export_args(parser: argparse.ArgumentParser, *, agent_default: st
parser.add_argument(
"--export_method",
type=str,
default="onnx-dynamo",
choices=["onnx-dynamo", "onnx-torchscript", "jit-script", "jit-trace"],
help="Method to export the policy",
default=None,
choices=["onnx-dynamo", "onnx-torchscript", "jit-script", "jit-trace", "pt2"],

@isaaclab-review-bot isaaclab-review-bot Bot Aug 13, 2026

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🔵 Suggestion · Api — Unrelated pt2 choice added without documentation

Adding "pt2" widens the accepted values of the public --export_method flag and is forwarded verbatim to patch_env_for_export, but it is unrelated to this change's stated purpose and appears in neither the help text nor the changelog fragment. Either drop it from this change or document it in the help string and changelog alongside the supporting backend support.

help="Method to export the policy. Defaults to onnx-dynamo.",
)
parser.add_argument(
"--export_save_path",
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8 changes: 7 additions & 1 deletion scripts/reinforcement_learning/leapp/rl_games/export.py
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Expand Up @@ -226,11 +226,17 @@ def export_rl_games_agent(
graph_name = args_cli.export_task_name if args_cli.export_task_name is not None else task_name

if isinstance(env.unwrapped, ManagerBasedRLEnv):
export_method = "onnx-dynamo" if args_cli.export_method is None else args_cli.export_method
patch_env_for_export(
env,
export_method=args_cli.export_method,
export_method=export_method,
required_obs_groups=_required_obs_groups(agent_cfg),
)
elif args_cli.export_method is not None:
raise ValueError(
"--export_method is only supported for manager-based environments. For direct environments, "
"set export_with directly in the annotate.output_tensors() call instead."
)

if isinstance(env.unwrapped.cfg, DirectMARLEnvCfg):
env = multi_agent_to_single_agent(env)
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8 changes: 7 additions & 1 deletion scripts/reinforcement_learning/leapp/rsl_rl/export.py
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Expand Up @@ -270,6 +270,7 @@ def export_rsl_rl_agent(
graph_name = args_cli.export_task_name if args_cli.export_task_name is not None else task_name

if isinstance(env.unwrapped, ManagerBasedRLEnv):
export_method = "onnx-dynamo" if args_cli.export_method is None else args_cli.export_method
# Patch only the observation groups consumed by the actor policy.
# This filters out the critic and teacher observation groups.
obs_groups_cfg = getattr(agent_cfg, "obs_groups", None)
Expand All @@ -279,9 +280,14 @@ def export_rsl_rl_agent(
required_obs_groups = {"policy"}
patch_env_for_export(
env,
export_method=args_cli.export_method,
export_method=export_method,
required_obs_groups=required_obs_groups,
)
elif args_cli.export_method is not None:
raise ValueError(
"--export_method is only supported for manager-based environments. For direct environments, "
"set export_with directly in the annotate.output_tensors() call instead."
)

env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)

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9 changes: 8 additions & 1 deletion scripts/reinforcement_learning/leapp/sb3/export.py
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Expand Up @@ -291,11 +291,18 @@ def export_sb3_agent(
try:
env = gym.make(args_cli.task, cfg=env_cfg, render_mode=None)
if not isinstance(env.unwrapped, ManagerBasedRLEnv):
if args_cli.export_method is not None:

@isaaclab-review-bot isaaclab-review-bot Bot Aug 13, 2026

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🟡 Warning · Implementation — SB3 direct-env error masks unsupported-environment message

SB3 LEAPP export does not support direct environments at all (the following NotImplementedError). Checking --export_method first replaces that accurate message with advice to "set export_with directly in the annotate.output_tensors() call", which cannot be followed here and implies direct export works for SB3. Raise the NotImplementedError first, or drop this extra check in the SB3 backend.

raise ValueError(
"--export_method is only supported for manager-based environments. For direct environments, "
"set export_with directly in the annotate.output_tensors() call instead."
)
raise NotImplementedError("SB3 LEAPP export currently supports manager-based environments only.")

export_method = "onnx-dynamo" if args_cli.export_method is None else args_cli.export_method

policy_node_name = ensure_env_spec_id(env)
graph_name = args_cli.export_task_name if args_cli.export_task_name is not None else task_name
patch_env_for_export(env, export_method=args_cli.export_method, required_obs_groups={"policy"})
patch_env_for_export(env, export_method=export_method, required_obs_groups={"policy"})

print(f"[INFO] Loading model checkpoint from: {checkpoint_path}")
agent = _load_agent(checkpoint_path, device=env.unwrapped.device)
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8 changes: 7 additions & 1 deletion scripts/reinforcement_learning/leapp/skrl/export.py
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Expand Up @@ -232,7 +232,13 @@ def export_skrl_agent(
graph_name = args_cli.export_task_name if args_cli.export_task_name is not None else task_name

if isinstance(env.unwrapped, ManagerBasedRLEnv):
patch_env_for_export(env, export_method=args_cli.export_method, required_obs_groups={"policy"})
export_method = "onnx-dynamo" if args_cli.export_method is None else args_cli.export_method
patch_env_for_export(env, export_method=export_method, required_obs_groups={"policy"})
elif args_cli.export_method is not None:
raise ValueError(
"--export_method is only supported for manager-based environments. For direct environments, "
"set export_with directly in the annotate.output_tensors() call instead."
)

if isinstance(env.unwrapped.cfg, DirectMARLEnvCfg) and algorithm in ["ppo"]:
env = multi_agent_to_single_agent(env)
Expand Down
4 changes: 4 additions & 0 deletions source/isaaclab/changelog.d/frlai-warn-direct-env-export-method.rst
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@@ -0,0 +1,4 @@
Fixed
^^^^^

* Raised an error when ``--export_method`` is used to export a direct RL environment with LEAPP.
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