From 0991ee8872c0d53e451a997ce19e5672997062c3 Mon Sep 17 00:00:00 2001
From: brentyi <yibrenth@gmail.com>
Date: Mon, 23 Dec 2024 02:20:05 -0800
Subject: [PATCH] Fix "auto" for forward-mode vs reverse-mode jacobians

---
 src/jaxls/_factor_graph.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/jaxls/_factor_graph.py b/src/jaxls/_factor_graph.py
index aa41a00..78317b9 100644
--- a/src/jaxls/_factor_graph.py
+++ b/src/jaxls/_factor_graph.py
@@ -134,7 +134,7 @@ def compute_jac_with_perturb(factor: _AnalyzedFactor) -> jax.Array:
                     "reverse": jax.jacrev,
                     "auto": jax.jacrev
                     if factor.residual_dim < val_subset._get_tangent_dim()
-                    else jax.jacrev,
+                    else jax.jacfwd,
                 }[factor.jac_mode]
                 return jacfunc(
                     # The residual function, with respect to to some local delta.