Fix fsd_model/planning.py for training (autograd + in-place ops)

fsd_model/planning.py

@@ -257,11 +257,12 @@ class SafetyChecker(nn.Module):
         planned_speeds = planned_waypoints[:, :, 3]  # speed component
         speed_violation = (planned_speeds > self.max_speed_ms).float().mean(dim=-1, keepdim=True)
         
-        # Clamp speeds to max
-        clamped_waypoints = planned_waypoints.clone()
-        clamped_waypoints[:, :, 3] = torch.clamp(
-            planned_waypoints[:, :, 3], 0.0, self.max_speed_ms
-        )
+        # Clamp speeds to max (no in-place ops for autograd)
+        clamped_speeds = torch.clamp(planned_waypoints[:, :, 3], 0.0, self.max_speed_ms)
+        clamped_waypoints = torch.cat([
+            planned_waypoints[:, :, :3],
+            clamped_speeds.unsqueeze(-1),
+        ], dim=-1)
         
         return {
             "collision_risk": collision_risk,