diff --git a/CHANGELOG.md b/CHANGELOG.md
index e21aaa7..6ddb098 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,9 +12,9 @@ its affiliates is strictly prohibited.
 ## Latest Commit
 ### BugFixes
 - refactored wp.index() instances to `[]` to avoid errors in using with warp-lang>=0.11.
-- Fix bug in gaussian transformation to ensure values are not -1 or +1.
+- Fixed bug in gaussian transformation to ensure values are not -1 or +1.
 - Fixed bug in transforming link visual mesh offset when reading from urdf. 
-
+- Fixed bug in MotionGenPlanConfig.clone() that didn't clone the state of parallel_finetune.
 ## Version 0.6.2
 ### New Features
 - Added support for actuated axis to be negative (i.e., urdf joints with `<axis xyz="0 -1 0"/>` are
diff --git a/src/curobo/wrap/reacher/motion_gen.py b/src/curobo/wrap/reacher/motion_gen.py
index 594a6b9..2c767f3 100644
--- a/src/curobo/wrap/reacher/motion_gen.py
+++ b/src/curobo/wrap/reacher/motion_gen.py
@@ -804,6 +804,7 @@ class MotionGenPlanConfig:
             success_ratio=self.success_ratio,
             fail_on_invalid_query=self.fail_on_invalid_query,
             enable_finetune_trajopt=self.enable_finetune_trajopt,
+            parallel_finetune=self.parallel_finetune,
         )