diff --git a/docs/source/func.rst b/docs/source/func.rst
new file mode 100644
index 000000000..ce38a0f03
--- /dev/null
+++ b/docs/source/func.rst
@@ -0,0 +1,10 @@
+Func
+=======
+
+.. currentmodule:: pypose
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    func.jacrev
diff --git a/docs/source/index.rst b/docs/source/index.rst
index ec5a1f7d8..3a482ce94 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -8,6 +8,7 @@ PyPose Documentation
    :caption: Contents:
 
    lietensor
+   func
    functions
    convert
    modules
diff --git a/pypose/func/__init__.py b/pypose/func/__init__.py
index 35608f939..cd6602cb2 100644
--- a/pypose/func/__init__.py
+++ b/pypose/func/__init__.py
@@ -1,24 +1 @@
-from typing import Callable, Union, Tuple, List, Any, Optional
-import torch
-from functools import partial, wraps
-from torch._functorch.vmap import vmap, doesnt_support_saved_tensors_hooks, get_chunk_sizes
-from torch._functorch.eager_transforms import error_if_complex, _slice_argnums, \
-    _chunked_standard_basis_for_, _safe_zero_index, _vjp_with_argnums
-from torch.utils._pytree import tree_flatten, tree_unflatten, tree_map, tree_map_only
-
-from pypose.lietensor.lietensor import retain_ltype
-
-
-def jacrev(func: Callable, argnums: Union[int, Tuple[int]] = 0, *, has_aux=False,
-           chunk_size: Optional[int] = None,
-           _preallocate_and_copy=False):
-    """
-    This function provides the exact same functionality as `torch.func.jacrev`, except
-    that it allows LieTensor to be used as input.
-    """
-    jac_func = torch.func.jacrev(func, argnums, has_aux=has_aux, chunk_size=chunk_size,
-        _preallocate_and_copy=_preallocate_and_copy)
-    @retain_ltype()
-    def wrapper_fn(*args, **kwargs):
-        return jac_func(*args, **kwargs)
-    return wrapper_fn
+from .jac import jacrev
diff --git a/pypose/func/jac.py b/pypose/func/jac.py
new file mode 100644
index 000000000..4a5ca2ea4
--- /dev/null
+++ b/pypose/func/jac.py
@@ -0,0 +1,58 @@
+import torch
+from typing import Callable, Union, Tuple, Optional
+from pypose.lietensor.lietensor import retain_ltype
+
+
+def jacrev(func: Callable, argnums: Union[int, Tuple[int]] = 0, *, has_aux=False,
+           chunk_size: Optional[int] = None,
+           _preallocate_and_copy=False):
+    r"""
+    This function provides the exact same functionality as `torch.func.jacrev()
+    <https://pytorch.org/docs/stable/generated/torch.func.jacrev.html#torch.func.jacrev>`_,
+    except that it allows LieTensor to be used as input when calculating the jacobian.
+
+    Args:
+        func (function): A Python function that takes one or more arguments,
+            one of which must be a Tensor, and returns one or more Tensors
+        argnums (int or Tuple[int]): Optional, integer or tuple of integers,
+            saying which arguments to get the Jacobian with respect to.
+            Default: 0.
+        has_aux (bool): Flag indicating that ``func`` returns a
+            ``(output, aux)`` tuple where the first element is the output of
+            the function to be differentiated and the second element is
+            auxiliary objects that will not be differentiated.
+            Default: False.
+        chunk_size (None or int): If None (default), use the maximum chunk size
+            (equivalent to doing a single vmap over vjp to compute the jacobian).
+            If 1, then compute the jacobian row-by-row with a for-loop.
+            If not None, then compute the jacobian :attr:`chunk_size` rows at a time
+            (equivalent to doing multiple vmap over vjp). If you run into memory issues computing
+            the jacobian, please try to specify a non-None chunk_size.
+
+    Returns:
+        Returns a function that takes in the same inputs as ``func`` and
+        returns the Jacobian of ``func`` with respect to the arg(s) at
+        ``argnums``. If ``has_aux is True``, then the returned function
+        instead returns a ``(jacobian, aux)`` tuple where ``jacobian``
+        is the Jacobian and ``aux`` is auxiliary objects returned by ``func``.
+
+    A basic usage with our LieTensor type would be the transformation function. 
+
+        >>> import pypose as pp
+        >>> import torch
+        >>> def func(pose, points):
+        ...     return pose @ points
+        >>> pose = pp.randn_SE3(1)
+        >>> points = torch.randn(1, 3)
+        >>> jacobian = pp.func.jacrev(func)(pose, points)
+        >>> jacobian
+        tensor([[[[ 1.0000,  0.0000,  0.0000,  0.0000,  1.5874, -0.2061,  0.0000]],
+                [[ 0.0000,  1.0000,  0.0000, -1.5874,  0.0000, -1.4273,  0.0000]],
+                [[ 0.0000,  0.0000,  1.0000,  0.2061,  1.4273,  0.0000,  0.0000]]]])
+    """
+    jac_func = torch.func.jacrev(func, argnums, has_aux=has_aux, chunk_size=chunk_size,
+        _preallocate_and_copy=_preallocate_and_copy)
+    @retain_ltype()
+    def wrapper_fn(*args, **kwargs):
+        return jac_func(*args, **kwargs)
+    return wrapper_fn