[BUG FIX] Fix linesearch fallback exit condition. (Genesis-Embodied-AI#2339)

erizmr · web-flow · commit f5261d2bc80a · 2026-02-01T19:00:51.000+08:00
diff --git a/genesis/engine/solvers/rigid/constraint/solver.py b/genesis/engine/solvers/rigid/constraint/solver.py
@@ -2216,7 +2216,7 @@ def func_linesearch_batch(
                         if p1_cost <= p2_cost and p1_cost < p0_cost:
                             constraint_state.ls_result[i_b] = 4
                             res_alpha = p1_alpha
-                        elif p2_cost <= p1_cost and p2_cost < p1_cost:
+                        elif p2_cost <= p1_cost and p2_cost < p0_cost:
                             constraint_state.ls_result[i_b] = 4
                             res_alpha = p2_alpha
                         else:
diff --git a/genesis/engine/solvers/rigid/constraint/solver_island.py b/genesis/engine/solvers/rigid/constraint/solver_island.py
@@ -806,7 +806,7 @@ def _func_linesearch(self, island, i_b):
                             if p1_cost <= p2_cost and p1_cost < p0_cost:
                                 self.ls_result[i_b] = 4
                                 res_alpha = p1_alpha
-                            elif p2_cost <= p1_cost and p2_cost < p1_cost:
+                            elif p2_cost <= p1_cost and p2_cost < p0_cost:
                                 self.ls_result[i_b] = 4
                                 res_alpha = p2_alpha
                             else:
