diff --git a/pytorch3d/renderer/utils.py b/pytorch3d/renderer/utils.py
index d2024d34..5ffd4c37 100644
--- a/pytorch3d/renderer/utils.py
+++ b/pytorch3d/renderer/utils.py
@@ -3,6 +3,7 @@
 
 
 import numpy as np
+import warnings
 from typing import Any, Union
 import torch
 
@@ -111,7 +112,7 @@ class TensorProperties(object):
                     args_to_broadcast[k] = v
                 else:
                     msg = "Arg %s with type %r is not broadcastable"
-                    print(msg % (k, type(v)))
+                    warnings.warn(msg % (k, type(v)))
 
             names = args_to_broadcast.keys()
             # convert from type dict.values to tuple
diff --git a/pytorch3d/transforms/transform3d.py b/pytorch3d/transforms/transform3d.py
index 5c59859b..c0483513 100644
--- a/pytorch3d/transforms/transform3d.py
+++ b/pytorch3d/transforms/transform3d.py
@@ -2,6 +2,7 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
 import math
+import warnings
 import torch
 
 
@@ -663,7 +664,7 @@ def _check_valid_rotation_matrix(R, tol: float = 1e-7):
     Returns:
         None
 
-    Prints an warning if R is an invalid rotation matrix. Else return.
+    Emits a warning if R is an invalid rotation matrix.
     """
     N = R.shape[0]
     eye = torch.eye(3, dtype=R.dtype, device=R.device)
@@ -673,5 +674,5 @@ def _check_valid_rotation_matrix(R, tol: float = 1e-7):
     no_distortion = torch.allclose(det_R, torch.ones_like(det_R))
     if not (orthogonal and no_distortion):
         msg = "R is not a valid rotation matrix"
-        print(msg)
+        warnings.warn(msg)
     return