fix(scene): maintaining gradients #89
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When observe_from() is called multiple times during optimization loops with gradient computation, the tensor aliasing between the robot's configured_vertices and intermediate tensors in the matmul chain causes incorrect gradient flow. Adding .clone() breaks the aliasing, ensuring independent tensor graphs for each iteration. Fixes lbr-stack#81
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thanks for the PR @aymuos15 ! While this fixes the issue indeed, I'll have to spend some time understanding the core problem here. |
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Fixes #81