diff --git a/src/optimization/SleipnirOpti.cpp b/src/optimization/SleipnirOpti.cpp
index 4080dfff..0b75b33e 100644
--- a/src/optimization/SleipnirOpti.cpp
+++ b/src/optimization/SleipnirOpti.cpp
@@ -106,6 +106,7 @@ void SleipnirOpti::SetInitial(trajopt::SleipnirExpr& expr, double value) {
 }
 
 void SleipnirOpti::Solve() {
+  GetCancellationFlag() = 0;
   opti.Callback([](const sleipnir::SolverIterationInfo&) -> bool {
     return trajopt::GetCancellationFlag();
   });