From 306b787aa7f44e6b94d61a43840201bf3b3f88ef Mon Sep 17 00:00:00 2001
From: yexiaozhou <yexiaozhou@dp.tech>
Date: Fri, 3 Apr 2026 00:43:40 +0800
Subject: [PATCH] fix(layout_optimizer): update arm_slider reach value and
 improve scene poll version handling

---
 unilabos/layout_optimizer/mock_checkers.py  | 2 +-
 unilabos/layout_optimizer/optimizer.py      | 4 +++-
 unilabos/layout_optimizer/static/lab3d.html | 4 ++--
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/unilabos/layout_optimizer/mock_checkers.py b/unilabos/layout_optimizer/mock_checkers.py
index d677a40c..67f80b19 100644
--- a/unilabos/layout_optimizer/mock_checkers.py
+++ b/unilabos/layout_optimizer/mock_checkers.py
@@ -78,7 +78,7 @@ class MockReachabilityChecker:
         "elite_cs66": 0.914,
         "elite_cs612": 1.304,
         "elite_cs620": 1.800,
-        "arm_slider": 1.07,   # 线性导轨臂：body 2.14m × 0.35m，reach ≈ half length
+        "arm_slider": 0.3,   # 线性导轨臂：1.07 body 2.14m × 0.35m，reach ≈ half length
     }
 
     # 未知型号回退臂展：realistic default for lab-scale arms
diff --git a/unilabos/layout_optimizer/optimizer.py b/unilabos/layout_optimizer/optimizer.py
index 9c1f33f2..cae38952 100644
--- a/unilabos/layout_optimizer/optimizer.py
+++ b/unilabos/layout_optimizer/optimizer.py
@@ -80,7 +80,7 @@ def _run_de(
     best_vector = init_pop[best_idx].copy()
 
     # Early stopping 跟踪
-    patience = 20
+    patience = 200
     best_cost_history: list[float] = [best_cost]
 
     for gen in range(1, maxiter + 1):
@@ -102,6 +102,8 @@ def _run_de(
                 # 默认 currenttobest1bin：mutant = target + F*(best - target) + F*(r1 - r2)
                 mutant = (
                     init_pop[i]
+                    # add a scaled minimum to encourage exploration
+                    + f_val * 0.1 * (upper - lower) * rng.uniform(-1, 1, size=ndim)
                     + f_val * (best_vector - init_pop[i])
                     + f_val * (init_pop[r1] - init_pop[r2])
                 )
diff --git a/unilabos/layout_optimizer/static/lab3d.html b/unilabos/layout_optimizer/static/lab3d.html
index f0f40eb4..48b8106b 100644
--- a/unilabos/layout_optimizer/static/lab3d.html
+++ b/unilabos/layout_optimizer/static/lab3d.html
@@ -1200,13 +1200,13 @@ loadDeviceCatalog().then(() => {
 });
 
 /* ── Scene Poller (demo agent) ─────────────── */
-let _scenePollVersion = -1;  // -1 = uninitialized, first poll sets baseline
+let _scenePollVersion = 0;
 setInterval(async () => {
   try {
     const res = await fetch('/scene/placements');
     if (!res.ok) return;
     const data = await res.json();
-    if (_scenePollVersion === -1) { _scenePollVersion = data.version; return; }  // baseline on first poll
+    if (data.version < _scenePollVersion) _scenePollVersion = 0;  // server restart
     if (data.version <= _scenePollVersion) return;
     _scenePollVersion = data.version;
     const labW = parseFloat(document.getElementById('lab-w').value) || 4;