(leggedrobot) ➜  pypose git:(main) ✗ python3 examples/module/mpc/cartpole.py
Namespace(device='cpu', save='./examples/module/mpc/save/', show=False)
Traceback (most recent call last):
  File "/Users/fenglongsong/Documents/GitHub/pypose/examples/module/mpc/cartpole.py", line 104, in <module>
    traj_loss.backward()
  File "/Users/fenglongsong/miniconda3/envs/leggedrobot/lib/python3.10/site-packages/torch/_tensor.py", line 522, in backward
    torch.autograd.backward(
  File "/Users/fenglongsong/miniconda3/envs/leggedrobot/lib/python3.10/site-packages/torch/autograd/__init__.py", line 266, in backward
    Variable._execution_engine.run_backward(  # Calls into the C++ engine to run the backward pass
RuntimeError: Output 3 of UnbindBackward0 is a view and its base or another view of its base has been modified inplace. This view is the output of a function that returns multiple views. Such functions do not allow the output views to be modified inplace. You should replace the inplace operation by an out-of-place one.

(leggedrobot) ➜  pypose git:(main) ✗ python3 examples/module/mpc/linear.py
Namespace(device='cpu', save='./examples/module/mpc/save/', show=False)
Traceback (most recent call last):
  File "/Users/fenglongsong/Documents/GitHub/pypose/examples/module/mpc/linear.py", line 81, in <module>
    traj_loss.backward()
  File "/Users/fenglongsong/miniconda3/envs/leggedrobot/lib/python3.10/site-packages/torch/_tensor.py", line 522, in backward
    torch.autograd.backward(
  File "/Users/fenglongsong/miniconda3/envs/leggedrobot/lib/python3.10/site-packages/torch/autograd/__init__.py", line 266, in backward
    Variable._execution_engine.run_backward(  # Calls into the C++ engine to run the backward pass
RuntimeError: one of the variables needed for gradient computation has been modified by an inplace operation: [torch.FloatTensor [5, 3]], which is output 0 of AsStridedBackward0, is at version 4; expected version 3 instead. Hint: enable anomaly detection to find the operation that failed to compute its gradient, with torch.autograd.set_detect_anomaly(True).

(leggedrobot) ➜  pypose git:(main) ✗ python collect_env.py
Collecting environment information...
PyTorch version: 2.2.2
Is debug build: False
CUDA used to build PyTorch: None
ROCM used to build PyTorch: N/A

OS: macOS 14.5 (arm64)
GCC version: Could not collect
Clang version: 15.0.0 (clang-1500.3.9.4)
CMake version: version 3.29.2
Libc version: N/A

Python version: 3.10.12 | packaged by conda-forge | (main, Jun 23 2023, 22:41:52) [Clang 15.0.7 ] (64-bit runtime)
Python platform: macOS-14.5-arm64-arm-64bit
Is CUDA available: False
CUDA runtime version: No CUDA
GPU models and configuration: No CUDA
Nvidia driver version: No CUDA
cuDNN version: No CUDA
HIP runtime version: N/A
MIOpen runtime version: N/A
Is XNNPACK available: True

Versions of relevant libraries:
[pip3] numpy==1.26.4
[pip3] torch==2.2.2
[pip3] torchkin==0.1.1
[pip3] torchlie==0.1.0
[pip3] torchvision==0.17.2
[conda] numpy                     1.26.4          py310h3b2db8e_0
[conda] numpy-base                1.26.4          py310ha9811e2_0
[conda] torch                     2.2.2                    pypi_0    pypi
[conda] torchkin                  0.1.1                    pypi_0    pypi
[conda] torchlie                  0.1.0                    pypi_0    pypi
[conda] torchvision               0.17.2                   pypi_0    pypi