diff --git a/optimum/exporters/onnx/model_configs.py b/optimum/exporters/onnx/model_configs.py
index 4c5a727a18..050f0597ae 100644
--- a/optimum/exporters/onnx/model_configs.py
+++ b/optimum/exporters/onnx/model_configs.py
@@ -2615,5 +2615,18 @@ def overwrite_shape_and_generate_input(
 
 class EncoderDecoderOnnxConfig(EncoderDecoderBaseOnnxConfig):
     NORMALIZED_CONFIG_CLASS = NormalizedEncoderDecoderConfig
-
     DEFAULT_ONNX_OPSET = 14  # uses SDPA in Transformers, hence opset>=14.
+
+
+class RTDetrOnnxConfig(ViTOnnxConfig):
+    # Export the operator 'aten::grid_sampler' to ONNX fails under opset 16.
+    # Support for this operator was added in version 16.
+    DEFAULT_ONNX_OPSET = 16
+    ATOL_FOR_VALIDATION = 1e-5
+
+    @property
+    def inputs(self) -> Dict[str, Dict[int, str]]:
+        return {
+            "pixel_values": {0: "batch_size", 1: "num_channels", 2: "height", 3: "width"},
+            "pixel_mask": {0: "batch_size"},
+        }
diff --git a/optimum/exporters/tasks.py b/optimum/exporters/tasks.py
index 7cb5a31d2d..4ffb63fd6a 100644
--- a/optimum/exporters/tasks.py
+++ b/optimum/exporters/tasks.py
@@ -1074,6 +1074,10 @@ class TasksManager:
             onnx="RoFormerOnnxConfig",
             tflite="RoFormerTFLiteConfig",
         ),
+        "rt-detr": supported_tasks_mapping(
+            "object-detection",
+            onnx="RTDetrOnnxConfig",
+        ),
         "sam": supported_tasks_mapping(
             "feature-extraction",
             onnx="SamOnnxConfig",
diff --git a/tests/exporters/exporters_utils.py b/tests/exporters/exporters_utils.py
index 900b5f3b5c..6fdffd132f 100644
--- a/tests/exporters/exporters_utils.py
+++ b/tests/exporters/exporters_utils.py
@@ -152,6 +152,7 @@
     "resnet": "hf-internal-testing/tiny-random-resnet",
     "roberta": "hf-internal-testing/tiny-random-RobertaModel",
     "roformer": "hf-internal-testing/tiny-random-RoFormerModel",
+    "rt-detr": "PekingU/rtdetr_r18vd",
     "sam": "fxmarty/sam-vit-tiny-random",
     "segformer": "hf-internal-testing/tiny-random-SegformerModel",
     "siglip": "hf-internal-testing/tiny-random-SiglipModel",
@@ -280,6 +281,7 @@
     "resnet": "microsoft/resnet-50",
     "roberta": "roberta-base",
     "roformer": "junnyu/roformer_chinese_base",
+    "rt-detr": "PekingU/rtdetr_r101vd",
     "sam": "facebook/sam-vit-base",
     "segformer": "nvidia/segformer-b0-finetuned-ade-512-512",
     "siglip": "google/siglip-base-patch16-224",