diff --git a/docs/source/exporters/onnx/overview.mdx b/docs/source/exporters/onnx/overview.mdx
index 747e1396fb4..2eaada7dadd 100644
--- a/docs/source/exporters/onnx/overview.mdx
+++ b/docs/source/exporters/onnx/overview.mdx
@@ -36,6 +36,7 @@ Supported architectures from [🤗 Transformers](https://huggingface.co/docs/tra
 - Data2VecVision
 - Deberta
 - Deberta-v2
+- Decision Transformer
 - Deit
 - Detr
 - DistilBert
diff --git a/optimum/exporters/onnx/model_configs.py b/optimum/exporters/onnx/model_configs.py
index 8984162ee8c..bca7cf24acf 100644
--- a/optimum/exporters/onnx/model_configs.py
+++ b/optimum/exporters/onnx/model_configs.py
@@ -27,6 +27,7 @@
     BloomDummyPastKeyValuesGenerator,
     DummyAudioInputGenerator,
     DummyCodegenDecoderTextInputGenerator,
+    DummyDecisionTransformerInputGenerator,
     DummyDecoderTextInputGenerator,
     DummyEncodecInputGenerator,
     DummyFluxTransformerTextInputGenerator,
@@ -263,6 +264,30 @@ class ImageGPTOnnxConfig(GPT2OnnxConfig):
     pass
 
 
+class DecisionTransformerOnnxConfig(OnnxConfig):
+    DUMMY_INPUT_GENERATOR_CLASSES = (DummyDecisionTransformerInputGenerator,)
+    NORMALIZED_CONFIG_CLASS = NormalizedConfig
+
+    @property
+    def inputs(self) -> Dict[str, Dict[int, str]]:
+        return {
+            "states": {0: "batch_size", 1: "sequence_length"},
+            "actions": {0: "batch_size", 1: "sequence_length"},
+            "timesteps": {0: "batch_size", 1: "sequence_length"},
+            "returns_to_go": {0: "batch_size", 1: "sequence_length"},
+            "attention_mask": {0: "batch_size", 1: "sequence_length"},
+        }
+
+    @property
+    def outputs(self) -> Dict[str, Dict[int, str]]:
+        return {
+            "state_preds": {0: "batch_size", 1: "sequence_length"},
+            "action_preds": {0: "batch_size", 1: "sequence_length"},
+            "return_preds": {0: "batch_size", 1: "sequence_length"},
+            "last_hidden_state": {0: "batch_size", 1: "sequence_length"},
+        }
+
+
 class GPTNeoOnnxConfig(TextDecoderWithPositionIdsOnnxConfig):
     DEFAULT_ONNX_OPSET = 14
     NORMALIZED_CONFIG_CLASS = NormalizedTextConfig.with_args(num_attention_heads="num_heads")
diff --git a/optimum/exporters/tasks.py b/optimum/exporters/tasks.py
index b4bce4696f3..8f28ec42ce9 100644
--- a/optimum/exporters/tasks.py
+++ b/optimum/exporters/tasks.py
@@ -217,6 +217,7 @@ class TasksManager:
             "multiple-choice": "AutoModelForMultipleChoice",
             "object-detection": "AutoModelForObjectDetection",
             "question-answering": "AutoModelForQuestionAnswering",
+            "reinforcement-learning": "AutoModel",
             "semantic-segmentation": "AutoModelForSemanticSegmentation",
             "text-to-audio": ("AutoModelForTextToSpectrogram", "AutoModelForTextToWaveform"),
             "text-generation": "AutoModelForCausalLM",
@@ -574,6 +575,11 @@ class TasksManager:
             onnx="DebertaV2OnnxConfig",
             tflite="DebertaV2TFLiteConfig",
         ),
+        "decision-transformer": supported_tasks_mapping(
+            "feature-extraction",
+            "reinforcement-learning",
+            onnx="DecisionTransformerOnnxConfig",
+        ),
         "deit": supported_tasks_mapping(
             "feature-extraction",
             "image-classification",
@@ -2085,6 +2091,9 @@ def get_model_from_task(
             if original_task == "automatic-speech-recognition" or task == "automatic-speech-recognition":
                 if original_task == "auto" and config.architectures is not None:
                     model_class_name = config.architectures[0]
+            elif original_task == "reinforcement-learning" or task == "reinforcement-learning":
+                if config.architectures is not None:
+                    model_class_name = config.architectures[0]
 
         if library_name == "diffusers":
             config = DiffusionPipeline.load_config(model_name_or_path, **kwargs)
diff --git a/optimum/utils/__init__.py b/optimum/utils/__init__.py
index 40d93d298e4..e1c2f52a84d 100644
--- a/optimum/utils/__init__.py
+++ b/optimum/utils/__init__.py
@@ -52,6 +52,7 @@
     DummyAudioInputGenerator,
     DummyBboxInputGenerator,
     DummyCodegenDecoderTextInputGenerator,
+    DummyDecisionTransformerInputGenerator,
     DummyDecoderTextInputGenerator,
     DummyEncodecInputGenerator,
     DummyFluxTransformerTextInputGenerator,
diff --git a/optimum/utils/input_generators.py b/optimum/utils/input_generators.py
index 148072aa0b4..0ac1805f97d 100644
--- a/optimum/utils/input_generators.py
+++ b/optimum/utils/input_generators.py
@@ -507,6 +507,43 @@ class DummyDecoderTextInputGenerator(DummyTextInputGenerator):
     )
 
 
+class DummyDecisionTransformerInputGenerator(DummyTextInputGenerator):
+    """
+    Generates dummy decision transformer inputs.
+    """
+
+    SUPPORTED_INPUT_NAMES = (
+        "states",
+        "actions",
+        "timesteps",
+        "returns_to_go",
+        "attention_mask",
+    )
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.act_dim = self.normalized_config.config.act_dim
+        self.state_dim = self.normalized_config.config.state_dim
+        self.max_ep_len = self.normalized_config.config.max_ep_len
+
+    def generate(self, input_name: str, framework: str = "pt", int_dtype: str = "int64", float_dtype: str = "fp32"):
+        if input_name == "states":
+            shape = [self.batch_size, self.sequence_length, self.state_dim]
+        elif input_name == "actions":
+            shape = [self.batch_size, self.sequence_length, self.act_dim]
+        elif input_name == "rewards":
+            shape = [self.batch_size, self.sequence_length, 1]
+        elif input_name == "returns_to_go":
+            shape = [self.batch_size, self.sequence_length, 1]
+        elif input_name == "attention_mask":
+            shape = [self.batch_size, self.sequence_length]
+        elif input_name == "timesteps":
+            shape = [self.batch_size, self.sequence_length]
+            return self.random_int_tensor(shape=shape, max_value=self.max_ep_len, framework=framework, dtype=int_dtype)
+
+        return self.random_float_tensor(shape, min_value=-2.0, max_value=2.0, framework=framework, dtype=float_dtype)
+
+
 class DummySeq2SeqDecoderTextInputGenerator(DummyDecoderTextInputGenerator):
     SUPPORTED_INPUT_NAMES = (
         "decoder_input_ids",
diff --git a/tests/exporters/exporters_utils.py b/tests/exporters/exporters_utils.py
index 31059c403de..c56132c384c 100644
--- a/tests/exporters/exporters_utils.py
+++ b/tests/exporters/exporters_utils.py
@@ -67,6 +67,7 @@
     "data2vec-audio": "hf-internal-testing/tiny-random-Data2VecAudioModel",
     "deberta": "hf-internal-testing/tiny-random-DebertaModel",
     "deberta-v2": "hf-internal-testing/tiny-random-DebertaV2Model",
+    "decision-transformer": "edbeeching/decision-transformer-gym-hopper-medium",
     "deit": "hf-internal-testing/tiny-random-DeiTModel",
     "donut": "fxmarty/tiny-doc-qa-vision-encoder-decoder",
     "donut-swin": "hf-internal-testing/tiny-random-DonutSwinModel",