diff --git a/IPython/extensions/autoreload.py b/IPython/extensions/autoreload.py
index 0e43ec6..816d2f3 100644
--- a/IPython/extensions/autoreload.py
+++ b/IPython/extensions/autoreload.py
@@ -321,6 +321,10 @@ def update_class(old, new):
             except (AttributeError, TypeError):
                 pass
             continue
+        except ValueError:
+            # can't compare nested structures containing
+            # numpy arrays using `==`
+            pass
 
         if update_generic(old_obj, new_obj):
             continue