RuntimeError: gradient computation has been modified by an inplace operation

[WenjinFu]

I tried to use one query and let gpt generate loss function "ChangeToLeftLane", I got the error the operation that failed to compute its gradient due to in place modification. I also tried the loss function "KeepDistanceLoss()" that already defined in your file and got the same error by using the generated loss from ChangeToLeftLane. May I know where I should look at to fix this issue. Huge thanks in advance!

[MarttiWu]

Cloning the yaw_pred before transformations in line 477 of the tbsim/utils/geometry_utils.py file may solve the issue.

[WenjinFu]

Thanks it works out perfectly!