diff --git a/lietorch/extras/se3_builder.cu b/lietorch/extras/se3_builder.cu
index 38401fe..edf92d8 100644
--- a/lietorch/extras/se3_builder.cu
+++ b/lietorch/extras/se3_builder.cu
@@ -158,8 +158,8 @@ __global__ void se3_build_forward_kernel(
         Jz[0] = 0.0;
         Jz[1] = 0.0;
         Jz[2] = -d2;
-        Jz[3] = d * Y1;
-        Jz[4] = -d * X1;
+        Jz[3] = -d2 * Y1;
+        Jz[4] = d2 * X1;
         Jz[5] = 0.0;
 
         for (int ii=0; ii<6; ii++) {
@@ -318,8 +318,8 @@ __global__ void se3_build_backward_kernel(
         Jz[0] = 0.0;
         Jz[1] = 0.0;
         Jz[2] = -d2;
-        Jz[3] = d * Y1;
-        Jz[4] = -d * X1;
+        Jz[3] = -d2 * Y1;
+        Jz[4] = d2 * X1;
         Jz[5] = 0.0;
 
         for (int ii=0; ii<6; ii++) {
@@ -431,4 +431,4 @@ std::vector<torch::Tensor> se3_build_backward_cuda(
     radius);
 
   return {attention_grad, targets_grad, weights_grad};
-}
\ No newline at end of file
+}
diff --git a/lietorch/extras/se3_inplace_builder.cu b/lietorch/extras/se3_inplace_builder.cu
index e96547d..5168e03 100644
--- a/lietorch/extras/se3_inplace_builder.cu
+++ b/lietorch/extras/se3_inplace_builder.cu
@@ -52,8 +52,8 @@ pinhole_jacobians(const float p[3], const float fx, const float fy, float Ju[6],
   Jz[0] = 0.0;
   Jz[1] = 0.0;
   Jz[2] = -d2;
-  Jz[3] = d * Y1;
-  Jz[4] = -d * X1;
+  Jz[3] = -d2 * Y1;
+  Jz[4] = d2 * X1;
   Jz[5] = 0.0;
 }
 
@@ -678,4 +678,4 @@ std::vector<torch::Tensor> dense_se3_backward_cuda(
     radius);
 
   return {embedding_grad, targets_grad, weights_grad};
-}
\ No newline at end of file
+}