The Riemannian trust regions solver

trust_regions(M, f, grad_f, Hess_f, p=rand(M); kwargs...)
trust_regions(M, f, grad_f, p=rand(M); kwargs...)
trust_regions!(M, f, grad_f, Hess_f, p; kwargs...)
trust_regions!(M, f, grad_f, p; kwargs...)

run the Riemannian trust-regions solver for optimization on manifolds to minimize f, see on [ABG06, CGT00].

For the case that no Hessian is provided, the Hessian is computed using finite differences, see ApproxHessianFiniteDifference. For solving the inner trust-region subproblem of finding an update-vector, by default the truncated_conjugate_gradient_descent is used.

Input

• M::AbstractManifold: a Riemannian manifold $\mathcal M$
• f: a cost function $f: \mathcal M→ ℝ$ implemented as (M, p) -> v
• grad_f: the (Riemannian) gradient $\operatorname{grad}f: \mathcal M → T_{p}\mathcal M$ of f as a function (M, p) -> X or a function (M, X, p) -> X computing X in-place
• Hess_f: the (Riemannian) Hessian $\operatorname{Hess}f: T_{p}\mathcal M → T_{p}\mathcal M$ of f as a function (M, p, X) -> Y or a function (M, Y, p, X) -> Y computing Y in-place
• p: a point on the manifold $\mathcal M$

Keyword arguments

• acceptance_rate: accept/reject threshold: if ρ (the performance ratio for the iterate) is at least the acceptance rate ρ', the candidate is accepted. This value should be between $0$ and $rac{1}{4}$
• augmentation_threshold=0.75: trust-region augmentation threshold: if ρ is larger than this threshold, a solution is on the trust region boundary and negative curvature, and the radius is extended (augmented)
• augmentation_factor=2.0: trust-region augmentation factor
• evaluation=AllocatingEvaluation(): specify whether the functions that return an array, for example a point or a tangent vector, work by allocating its result (AllocatingEvaluation) or whether they modify their input argument to return the result therein (InplaceEvaluation). Since usually the first argument is the manifold, the modified argument is the second.
• κ=0.1: the linear convergence target rate of the tCG method truncated_conjugate_gradient_descent, and is used in a stopping criterion therein
• max_trust_region_radius: the maximum trust-region radius
• preconditioner: a preconditioner for the Hessian H. This is either an allocating function (M, p, X) -> Y or an in-place function (M, Y, p, X) -> Y, see evaluation, and by default set to the identity.
• project!=copyto!: for numerical stability it is possible to project onto the tangent space after every iteration. the function has to work inplace of Y, that is (M, Y, p, X) -> Y, where X and Y can be the same memory.
• randomize=false: indicate whether X is initialised to a random vector or not. This disables preconditioning.
• ρ_regularization=1e3: regularize the performance evaluation $ρ$ to avoid numerical inaccuracies.
• reduction_factor=0.25: trust-region reduction factor
• reduction_threshold=0.1: trust-region reduction threshold: if ρ is below this threshold, the trust region radius is reduced by reduction_factor.
• retraction_method=default_retraction_method(M, typeof(p)): a retraction $\operatorname{retr}$ to use, see the section on retractions
• stopping_criterion=StopAfterIteration(1000)|StopWhenGradientNormLess(1e-6): a functor indicating that the stopping criterion is fulfilled
• sub_kwargs=(;): a named tuple of keyword arguments that are passed to decorate_objective! of the sub solvers objective, the decorate_state! of the subsovlers state, and the sub state constructor itself.
• sub_stopping_criterion=( see truncated_conjugate_gradient_descent): a functor indicating that the stopping criterion is fulfilled
• sub_problem=DefaultManoptProblem(M,ConstrainedManifoldObjective(subcost, subgrad; evaluation=evaluation)): specify a problem for a solver or a closed form solution function, which can be allocating or in-place.
• sub_state=QuasiNewtonState: a state to specify the sub solver to use. For a closed form solution, this indicates the type of function. where QuasiNewtonLimitedMemoryDirectionUpdate with InverseBFGS is used
• θ=1.0: the superlinear convergence target rate of $1+θ$ of the tCG-method truncated_conjugate_gradient_descent, and is used in a stopping criterion therein
• trust_region_radius=injectivity_radius(M) / 4: the initial trust-region radius

For the case that no Hessian is provided, the Hessian is computed using finite difference, see ApproxHessianFiniteDifference.

All other keyword arguments are passed to decorate_state! for state decorators or decorate_objective! for objective decorators, respectively.

Output

The obtained approximate minimizer $p^*$. To obtain the whole final state of the solver, see get_solver_return for details, especially the return_state= keyword.

See also

truncated_conjugate_gradient_descent

trust_regions(M, f, grad_f, Hess_f, p=rand(M); kwargs...)
trust_regions(M, f, grad_f, p=rand(M); kwargs...)
trust_regions!(M, f, grad_f, Hess_f, p; kwargs...)
trust_regions!(M, f, grad_f, p; kwargs...)

run the Riemannian trust-regions solver for optimization on manifolds to minimize f, see on [ABG06, CGT00].

For the case that no Hessian is provided, the Hessian is computed using finite differences, see ApproxHessianFiniteDifference. For solving the inner trust-region subproblem of finding an update-vector, by default the truncated_conjugate_gradient_descent is used.

Input

• M::AbstractManifold: a Riemannian manifold $\mathcal M$
• f: a cost function $f: \mathcal M→ ℝ$ implemented as (M, p) -> v
• grad_f: the (Riemannian) gradient $\operatorname{grad}f: \mathcal M → T_{p}\mathcal M$ of f as a function (M, p) -> X or a function (M, X, p) -> X computing X in-place
• Hess_f: the (Riemannian) Hessian $\operatorname{Hess}f: T_{p}\mathcal M → T_{p}\mathcal M$ of f as a function (M, p, X) -> Y or a function (M, Y, p, X) -> Y computing Y in-place
• p: a point on the manifold $\mathcal M$

Keyword arguments

• acceptance_rate: accept/reject threshold: if ρ (the performance ratio for the iterate) is at least the acceptance rate ρ', the candidate is accepted. This value should be between $0$ and $rac{1}{4}$
• augmentation_threshold=0.75: trust-region augmentation threshold: if ρ is larger than this threshold, a solution is on the trust region boundary and negative curvature, and the radius is extended (augmented)
• augmentation_factor=2.0: trust-region augmentation factor
• evaluation=AllocatingEvaluation(): specify whether the functions that return an array, for example a point or a tangent vector, work by allocating its result (AllocatingEvaluation) or whether they modify their input argument to return the result therein (InplaceEvaluation). Since usually the first argument is the manifold, the modified argument is the second.
• κ=0.1: the linear convergence target rate of the tCG method truncated_conjugate_gradient_descent, and is used in a stopping criterion therein
• max_trust_region_radius: the maximum trust-region radius
• preconditioner: a preconditioner for the Hessian H. This is either an allocating function (M, p, X) -> Y or an in-place function (M, Y, p, X) -> Y, see evaluation, and by default set to the identity.
• project!=copyto!: for numerical stability it is possible to project onto the tangent space after every iteration. the function has to work inplace of Y, that is (M, Y, p, X) -> Y, where X and Y can be the same memory.
• randomize=false: indicate whether X is initialised to a random vector or not. This disables preconditioning.
• ρ_regularization=1e3: regularize the performance evaluation $ρ$ to avoid numerical inaccuracies.
• reduction_factor=0.25: trust-region reduction factor
• reduction_threshold=0.1: trust-region reduction threshold: if ρ is below this threshold, the trust region radius is reduced by reduction_factor.
• retraction_method=default_retraction_method(M, typeof(p)): a retraction $\operatorname{retr}$ to use, see the section on retractions
• stopping_criterion=StopAfterIteration(1000)|StopWhenGradientNormLess(1e-6): a functor indicating that the stopping criterion is fulfilled
• sub_kwargs=(;): a named tuple of keyword arguments that are passed to decorate_objective! of the sub solvers objective, the decorate_state! of the subsovlers state, and the sub state constructor itself.
• sub_stopping_criterion=( see truncated_conjugate_gradient_descent): a functor indicating that the stopping criterion is fulfilled
• sub_problem=DefaultManoptProblem(M,ConstrainedManifoldObjective(subcost, subgrad; evaluation=evaluation)): specify a problem for a solver or a closed form solution function, which can be allocating or in-place.
• sub_state=QuasiNewtonState: a state to specify the sub solver to use. For a closed form solution, this indicates the type of function. where QuasiNewtonLimitedMemoryDirectionUpdate with InverseBFGS is used
• θ=1.0: the superlinear convergence target rate of $1+θ$ of the tCG-method truncated_conjugate_gradient_descent, and is used in a stopping criterion therein
• trust_region_radius=injectivity_radius(M) / 4: the initial trust-region radius

For the case that no Hessian is provided, the Hessian is computed using finite difference, see ApproxHessianFiniteDifference.

All other keyword arguments are passed to decorate_state! for state decorators or decorate_objective! for objective decorators, respectively.

Output

The obtained approximate minimizer $p^*$. To obtain the whole final state of the solver, see get_solver_return for details, especially the return_state= keyword.

See also

truncated_conjugate_gradient_descent

TrustRegionsState <: AbstractHessianSolverState

Store the state of the trust-regions solver.

Fields

• acceptance_rate: a lower bound of the performance ratio for the iterate that decides if the iteration is accepted or not.
• HX, HY, HZ: interim storage (to avoid allocation) of `\operatorname{Hess} f(p)[⋅] of X, Y, Z
• max_trust_region_radius: the maximum trust-region radius
• p::P: a point on the manifold $\mathcal M$ storing the current iterate
• project!: for numerical stability it is possible to project onto the tangent space after every iteration. the function has to work inplace of Y, that is (M, Y, p, X) -> Y, where X and Y can be the same memory.
• stop::StoppingCriterion: a functor indicating that the stopping criterion is fulfilled
• randomize: indicate whether X is initialised to a random vector or not
• ρ_regularization: regularize the model fitness $ρ$ to avoid division by zero
• sub_problem::Union{AbstractManoptProblem, F}: specify a problem for a solver or a closed form solution function, which can be allocating or in-place.
• sub_state::Union{AbstractManoptProblem, F}: a state to specify the sub solver to use. For a closed form solution, this indicates the type of function.
• σ: Gaussian standard deviation when creating the random initial tangent vector This field has no effect, when randomize is false.
• trust_region_radius: the trust-region radius
• X::T: a tangent vector at the point $p$ on the manifold $\mathcal M$
• Y: the solution (tangent vector) of the subsolver
• Z: the Cauchy point (only used if random is activated)

Constructors

TrustRegionsState(M, mho::AbstractManifoldHessianObjective; kwargs...)
TrustRegionsState(M, sub_problem, sub_state; kwargs...)
TrustRegionsState(M, sub_problem; evaluation=AllocatingEvaluation(), kwargs...)

create a trust region state.

• given a AbstractManifoldHessianObjectivemho, the default sub solver, a TruncatedConjugateGradientState with mho used to define the problem on a tangent space is created
• given a sub_problem and an evaluation= keyword, the sub problem solver is assumed to be the closed form solution, where evaluation determines how to call the sub function.

Input

• M::AbstractManifold: a Riemannian manifold $\mathcal M$
• sub_problem: specify a problem for a solver or a closed form solution function, which can be allocating or in-place.
• sub_state: a state to specify the sub solver to use. For a closed form solution, this indicates the type of function.

Keyword arguments

• acceptance_rate=0.1
• max_trust_region_radius=sqrt(manifold_dimension(M))
• p=rand(M): a point on the manifold $\mathcal M$ to specify the initial value
• project!=copyto!
• stopping_criterion=StopAfterIteration(1000)|StopWhenGradientNormLess(1e-6): a functor indicating that the stopping criterion is fulfilled
• randomize=false
• ρ_regularization=10000.0
• θ=1.0
• trust_region_radius=max_trust_region_radius / 8
• X=zero_vector(M, p): a tangent vector at the point $p$ on the manifold $\mathcal M$to specify the representation of a tangent vector

See also

trust_regions

ApproxHessianFiniteDifference{E, P, T, G, RTR, VTR, R <: Real} <: AbstractApproxHessian

A functor to approximate the Hessian by a finite difference of gradient evaluation.

Given a point p and a direction X and the gradient $\operatorname{grad} f(p)$ of a function $f$ the Hessian is approximated as follows: let $c$ be a stepsize, $X ∈ T_{p}\mathcal M$ a tangent vector and $q = \operatorname{retr}_p(\frac{c}{\lVert X \rVert_p}X)$ be a step in direction $X$ of length $c$ following a retraction Then the Hessian is approximated by the finite difference of the gradients, where $\mathcal T_{⋅←⋅}$ is a vector transport.

\[\operatorname{Hess}f(p)[X] ≈ \frac{\lVert X \rVert_p}{c}\Bigl( \mathcal T_{p\gets q}\bigr(\operatorname{grad}f(q)\bigl) - \operatorname{grad}f(p) \Bigl)\]

Fields

• gradient!!: the gradient function (either allocating or mutating, see evaluation parameter)
• step_length: a step length for the finite difference
• retraction_method=default_retraction_method(M, typeof(p)): a retraction $\operatorname{retr}$ to use, see the section on retractions
• vector_transport_method=default_vector_transport_method(M, typeof(p)): a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports

Internal temporary fields

• grad_tmp: a temporary storage for the gradient at the current p
• grad_dir_tmp: a temporary storage for the gradient at the current p_dir
• p_dir::P: a temporary storage to the forward direction (or the $q$ in the formula)

Constructor

ApproximateFiniteDifference(M, p, grad_f; kwargs...)

Keyword arguments

• evaluation=AllocatingEvaluation(): specify whether the functions that return an array, for example a point or a tangent vector, work by allocating its result (AllocatingEvaluation) or whether they modify their input argument to return the result therein (InplaceEvaluation). Since usually the first argument is the manifold, the modified argument is the second.
• steplength=2^{-14}$: step length$c`` to approximate the gradient evaluations
• retraction_method=default_retraction_method(M, typeof(p)): a retraction $\operatorname{retr}$ to use, see the section on retractions
• vector_transport_method=default_vector_transport_method(M, typeof(p)): a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports

ApproxHessianSymmetricRankOne{E, P, G, T, B<:AbstractBasis{ℝ}, VTR, R<:Real} <: AbstractApproxHessian

A functor to approximate the Hessian by the symmetric rank one update.

Fields

• gradient!!: the gradient function (either allocating or mutating, see evaluation parameter).
• ν: a small real number to ensure that the denominator in the update does not become too small and thus the method does not break down.
• vector_transport_method=default_vector_transport_method(M, typeof(p)): a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports.

Internal temporary fields

• p_tmp: a temporary storage the current point p.
• grad_tmp: a temporary storage for the gradient at the current p.
• matrix: a temporary storage for the matrix representation of the approximating operator.
• basis: a temporary storage for an orthonormal basis at the current p.

Constructor

ApproxHessianSymmetricRankOne(M, p, gradF; kwargs...)

Keyword arguments

• initial_operator (Matrix{Float64}(I, manifold_dimension(M), manifold_dimension(M))) the matrix representation of the initial approximating operator.
• basis (DefaultOrthonormalBasis()) an orthonormal basis in the tangent space of the initial iterate p.
• nu (-1)
• evaluation=AllocatingEvaluation(): specify whether the functions that return an array, for example a point or a tangent vector, work by allocating its result (AllocatingEvaluation) or whether they modify their input argument to return the result therein (InplaceEvaluation). Since usually the first argument is the manifold, the modified argument is the second.
• vector_transport_method=default_vector_transport_method(M, typeof(p)): a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports

ApproxHessianBFGS{E, P, G, T, B<:AbstractBasis{ℝ}, VTR, R<:Real} <: AbstractApproxHessian

A functor to approximate the Hessian by the BFGS update.

Fields

• gradient!! the gradient function (either allocating or mutating, see evaluation parameter).
• scale
• vector_transport_method::AbstractVectorTransportMethodP: a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports

Internal temporary fields

• p_tmp a temporary storage the current point p.
• grad_tmp a temporary storage for the gradient at the current p.
• matrix a temporary storage for the matrix representation of the approximating operator.
• basis a temporary storage for an orthonormal basis at the current p.

Constructor

ApproxHessianBFGS(M, p, gradF; kwargs...)

Keyword arguments

• initial_operator (Matrix{Float64}(I, manifold_dimension(M), manifold_dimension(M))) the matrix representation of the initial approximating operator.
• basis (DefaultOrthonormalBasis()) an orthonormal basis in the tangent space of the initial iterate p.
• nu (-1)
• evaluation=AllocatingEvaluation(): specify whether the functions that return an array, for example a point or a tangent vector, work by allocating its result (AllocatingEvaluation) or whether they modify their input argument to return the result therein (InplaceEvaluation). Since usually the first argument is the manifold, the modified argument is the second.
• vector_transport_method=default_vector_transport_method(M, typeof(p)): a vector transport $\mathcal T_{⋅←⋅}$ to use, see the section on vector transports

AbstractApproxHessian <: Function

An abstract supertype for approximate Hessian functions, declares them also to be functions.