diff --git a/requirements.txt b/requirements.txt
index 1f1849d..99ca341 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -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
diff --git a/scripts/rsl_rl/players.py b/scripts/rsl_rl/players.py
index b006b30..10f20ef 100644
--- a/scripts/rsl_rl/players.py
+++ b/scripts/rsl_rl/players.py
@@ -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: