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並前往https://stackoverflow.com/questions/73506309/custom-torch-nn-module-not-learning-even-though-grad-fn-mmbackward

Custom torch.nn.Module not learning, even though grad_fn ...

this is your problem right here: rotation_in_matrix = torch.tensor([ [c2, s2 * s3, c3 * s2], [s1 * s2, c1 * c3 - c2 * s1 * s3, ...

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