Reusing the state (e.g for iterative solving)

Nate · May 1, 2017, 3:52pm

Hi, I’m wondering if there is a way of reusing the state. For example if I’m planning on solving many problems quickly where the objective function and/or constraints change only slightly then it would be nice if I could warm start the optimization by reusing the “state” object. I don’t want to have to read the json file from disk every iteration or even reset the initial state value. I can’t seem to find anything in the documentation about how to do this.

What I have tried:

I have tried just calling …::Algorithms::getMin(Optizelle::Messaging::stdout,fns,state) twice in a row but the program crashes.
I discovered if I set state->mu_est = 0.0, and state->mu_type=1.0 then I can reuse state without crashing but I don’t get good solutions.

Is there some programmatic way to reset the state in between “getMin” calls to get good solutions and no crashing? Thanks!

joe · May 2, 2017, 5:50am

Hi Nate! I’m getting to this a little late tonight, so give me a little bit more time to investigate this. Theoretically, yes, this should work and, no, it should not crash! Quick question, do you have equality constraints or just inequality constraints? This’ll help me setup a test problem to figure out what’s going on.

Nate · May 2, 2017, 6:11am

Hi Joe, I only have inequality constraints at the moment. Thanks!

joe · May 3, 2017, 4:25am

Alright, perfect! I took one of the examples in the Optizelle code and modified it to solve a sequence of somewhat similar problems. First, create a file called ip_resolve.m with

function ip_resolve(fname)
    % Grab the Optizelle library
    global Optizelle;
    setupOptizelle();

    % Generate an initial guess 
    x = [2.1;1.1];

    % Allocate memory for the inequality multiplier 
    z = [0.;0.];

    % Create an optimization state
    state=Optizelle.InequalityConstrained.State.t( ...
        Optizelle.Rm,Optizelle.Rm,x,z);

    % Read the parameters from file
    state=Optizelle.json.InequalityConstrained.read( ...
        Optizelle.Rm,Optizelle.Rm,fname,state);

    % Run a couple of different, similar optimization problems
    for c=linspace(1,-1,10)

        % Create a bundle of functions
        fns=Optizelle.InequalityConstrained.Functions.t;
        fns.f=MyObj();
        fns.h=MyIneq(c);
       
        % Protect against having non interior starting points
        if fns.h.eval(state.x) <= 0
            error('Must start optimization with a strictly interior point')
        end

        % Solve the optimization problem
        state=Optizelle.InequalityConstrained.Algorithms.getMin( ...
            Optizelle.Rm,Optizelle.Rm,Optizelle.Messaging.stdout,fns,state);

        % Print the optimal solution
        fprintf('The optimal point for c=%e is: (%e,%e)\n', ...
            c,state.x(1),state.x(2));

        % Tell the optimization that it didn't really converge
        state.opt_stop = Optizelle.OptimizationStop.NotConverged;

        % Reset the iteration back to 1
        state.iter = 1;

        % Increase the barrier parameter to something larger
        state.mu = 1.;
    end
end

% Squares its input
function z = sq(x)
    z=x*x;
end

% Define a simple objective where 
% 
% f(x,y)=(x+1)^2+(y+1)^2
%
function self = MyObj()

    % Evaluation 
    self.eval = @(x) sq(x(1)+1.)+sq(x(2)+1.);

    % Gradient
    self.grad = @(x) [
        2.*x(1)+2.;
        2.*x(2)+2.];

    % Hessian-vector product
    self.hessvec = @(x,dx) [
        2.*dx(1);
        2.*dx(2)];
end

% Define simple inequalities 
%
% h(x,y)= [ x + 2y >= c ] 
%         [ 2x + y >= 1 ] 
%
function self = MyIneq(c)

    % z=h(x) 
    self.eval = @(x) [
        x(1)+2.*x(2)-c ;
        2.*x(1)+x(2)-1. ];

    % z=h'(x)dx
    self.p = @(x,dx) [
        dx(1)+2.*dx(2) ;
        2.*dx(1)+dx(2) ];

    % xhat=h'(x)*dz
    self.ps = @(x,dz) [
        dz(1)+2.*dz(2) ;
        2.*dz(1)+dz(2) ];

    % xhat=(h''(x)dx)*dz
    self.pps = @(x,dx,dz) zeros(2,1); 
end

Then another called tr_newton.json with:

{
   "Optizelle" : {
      "msg_level" : 1,
      "H_type" : "UserDefined",
      "iter_max" : 50,
      "delta" : 100,
      "eps_trunc" : 1e-10,
      "eps_dx" : 1e-16,
      "glob_iter_max" : 30
   }
}

This gives me:

ip_resolve('tr_newton.json')
iter        f(x)        ||grad||    ||dx||      mu_est      
1           1.40e+01    6.39e+00    .           1.00e+00    
2           4.12e+00    1.95e+00    1.72e+00    1.15e-01    
.           4.12e+00    1.95e+00    7.29e-01    1.15e-01    
3           5.58e+00    3.28e+01    3.64e-01    7.38e+00    
4           5.32e+00    4.44e-16    1.61e-01    9.71e-01    
5           3.95e+00    6.28e-16    3.20e-01    2.02e-01    
6           3.76e+00    6.28e-16    5.29e-02    1.03e-01    
7           3.58e+00    8.88e-16    4.67e-02    1.22e-02    
8           3.56e+00    4.44e-16    5.94e-03    1.04e-03    
9           3.56e+00    8.88e-16    4.96e-04    1.00e-04    
10          3.56e+00    1.40e-15    4.79e-05    1.00e-05    
11          3.56e+00    0.00e+00    4.77e-06    1.00e-06    
12          3.56e+00    4.44e-16    4.77e-07    1.00e-07    
13          3.56e+00    0.00e+00    4.77e-08    1.00e-08    
The optimal point for c=1.000000e+00 is: (3.333333e-01,3.333333e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.56e+00    0.00e+00    4.77e-08    1.00e-08    
.           3.56e+00    0.00e+00    3.64e-01    1.00e-08    
.           3.56e+00    0.00e+00    1.82e-01    1.00e-08    
.           3.56e+00    0.00e+00    9.11e-02    1.00e-08    
.           3.56e+00    0.00e+00    4.55e-02    1.00e-08    
.           3.56e+00    0.00e+00    2.28e-02    1.00e-08    
.           3.56e+00    0.00e+00    1.14e-02    1.00e-08    
.           3.56e+00    0.00e+00    5.69e-03    1.00e-08    
.           3.56e+00    0.00e+00    2.85e-03    1.00e-08    
.           3.56e+00    0.00e+00    1.42e-03    1.00e-08    
.           3.56e+00    0.00e+00    7.12e-04    1.00e-08    
.           3.56e+00    0.00e+00    3.56e-04    1.00e-08    
.           3.56e+00    0.00e+00    1.78e-04    1.00e-08    
.           3.56e+00    0.00e+00    8.89e-05    1.00e-08    
.           3.56e+00    0.00e+00    4.45e-05    1.00e-08    
.           3.56e+00    0.00e+00    2.22e-05    1.00e-08    
.           3.56e+00    0.00e+00    1.11e-05    1.00e-08    
.           3.56e+00    0.00e+00    5.56e-06    1.00e-08    
.           3.56e+00    0.00e+00    2.78e-06    1.00e-08    
.           3.56e+00    0.00e+00    1.39e-06    1.00e-08    
.           3.56e+00    0.00e+00    6.95e-07    1.00e-08    
.           3.56e+00    0.00e+00    3.47e-07    1.00e-08    
.           3.56e+00    0.00e+00    1.74e-07    1.00e-08    
.           3.56e+00    0.00e+00    8.69e-08    1.00e-08    
2           3.56e+00    3.77e+08    4.34e-08    9.88e+06    
...
39          3.39e+00    9.93e-16    6.86e-05    1.00e-05    
40          3.39e+00    4.44e-16    6.65e-06    1.00e-06    
41          3.39e+00    4.44e-16    6.64e-07    1.00e-07    
42          3.39e+00    6.28e-16    6.64e-08    1.00e-08    
The optimal point for c=7.777778e-01 is: (4.074074e-01,1.851852e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.39e+00    6.28e-16    6.64e-08    1.00e-08    
.           3.39e+00    6.28e-16    1.82e-01    1.00e-08    
.           3.39e+00    6.28e-16    9.11e-02    1.00e-08    
.           3.39e+00    6.28e-16    4.55e-02    1.00e-08    
.           3.39e+00    6.28e-16    2.28e-02    1.00e-08    
.           3.39e+00    6.28e-16    1.14e-02    1.00e-08    
.           3.39e+00    6.28e-16    5.69e-03    1.00e-08    
.           3.39e+00    6.28e-16    2.85e-03    1.00e-08    
.           3.39e+00    6.28e-16    1.42e-03    1.00e-08    
.           3.39e+00    6.28e-16    7.12e-04    1.00e-08    
.           3.39e+00    6.28e-16    3.56e-04    1.00e-08    
.           3.39e+00    6.28e-16    1.78e-04    1.00e-08    
.           3.39e+00    6.28e-16    8.89e-05    1.00e-08    
.           3.39e+00    6.28e-16    4.45e-05    1.00e-08    
.           3.39e+00    6.28e-16    2.22e-05    1.00e-08    
.           3.39e+00    6.28e-16    1.11e-05    1.00e-08    
.           3.39e+00    6.28e-16    5.56e-06    1.00e-08    
.           3.39e+00    6.28e-16    2.78e-06    1.00e-08    
.           3.39e+00    6.28e-16    1.39e-06    1.00e-08    
.           3.39e+00    6.28e-16    6.95e-07    1.00e-08    
.           3.39e+00    6.28e-16    3.47e-07    1.00e-08    
.           3.39e+00    6.28e-16    1.74e-07    1.00e-08    
.           3.39e+00    6.28e-16    8.69e-08    1.00e-08    
2           3.39e+00    3.68e+08    4.34e-08    7.13e+06    
...
37          3.48e+00    1.05e-14    1.03e-01    1.11e-01    
38          3.30e+00    1.40e-15    6.37e-02    1.41e-02    
39          3.27e+00    1.26e-15    2.56e-02    1.65e-03    
40          3.27e+00    0.00e+00    4.01e-03    1.16e-04    
41          3.27e+00    1.26e-15    1.97e-04    1.00e-05    
42          3.27e+00    1.40e-15    1.33e-05    1.00e-06    
43          3.27e+00    4.44e-16    1.32e-06    1.00e-07    
44          3.27e+00    1.33e-15    1.32e-07    1.00e-08    
The optimal point for c=5.555556e-01 is: (4.814815e-01,3.703705e-02)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.27e+00    1.33e-15    1.32e-07    1.00e-08    
.           3.27e+00    1.33e-15    3.64e-01    1.00e-08    
.           3.27e+00    1.33e-15    1.82e-01    1.00e-08    
.           3.27e+00    1.33e-15    9.11e-02    1.00e-08    
.           3.27e+00    1.33e-15    4.55e-02    1.00e-08    
.           3.27e+00    1.33e-15    2.28e-02    1.00e-08    
.           3.27e+00    1.33e-15    1.14e-02    1.00e-08    
.           3.27e+00    1.33e-15    5.69e-03    1.00e-08    
.           3.27e+00    1.33e-15    2.85e-03    1.00e-08    
.           3.27e+00    1.33e-15    1.42e-03    1.00e-08    
.           3.27e+00    1.33e-15    7.12e-04    1.00e-08    
.           3.27e+00    1.33e-15    3.56e-04    1.00e-08    
.           3.27e+00    1.33e-15    1.78e-04    1.00e-08    
.           3.27e+00    1.33e-15    8.89e-05    1.00e-08    
.           3.27e+00    1.33e-15    4.45e-05    1.00e-08    
.           3.27e+00    1.33e-15    2.22e-05    1.00e-08    
.           3.27e+00    1.33e-15    1.11e-05    1.00e-08    
.           3.27e+00    1.33e-15    5.56e-06    1.00e-08    
.           3.27e+00    1.33e-15    2.78e-06    1.00e-08    
.           3.27e+00    1.33e-15    1.39e-06    1.00e-08    
.           3.27e+00    1.33e-15    6.95e-07    1.00e-08    
.           3.27e+00    1.33e-15    3.47e-07    1.00e-08    
.           3.27e+00    1.33e-15    1.74e-07    1.00e-08    
2           3.27e+00    3.62e+08    8.69e-08    4.39e+06    
...
39          3.21e+00    5.07e-15    8.56e-04    1.07e-05    
40          3.21e+00    6.04e-15    4.94e-05    1.00e-06    
41          3.21e+00    8.01e-16    4.20e-06    1.00e-07    
42          3.21e+00    2.09e-15    4.18e-07    1.00e-08    
The optimal point for c=3.333333e-01 is: (5.555555e-01,-1.111111e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.21e+00    2.09e-15    4.18e-07    1.00e-08    
.           3.21e+00    2.09e-15    3.64e-01    1.00e-08    
.           3.21e+00    2.09e-15    1.82e-01    1.00e-08    
.           3.21e+00    2.09e-15    9.11e-02    1.00e-08    
.           3.21e+00    2.09e-15    4.55e-02    1.00e-08    
.           3.21e+00    2.09e-15    2.28e-02    1.00e-08    
.           3.21e+00    2.09e-15    1.14e-02    1.00e-08    
.           3.21e+00    2.09e-15    5.69e-03    1.00e-08    
.           3.21e+00    2.09e-15    2.85e-03    1.00e-08    
.           3.21e+00    2.09e-15    1.42e-03    1.00e-08    
.           3.21e+00    2.09e-15    7.12e-04    1.00e-08    
.           3.21e+00    2.09e-15    3.56e-04    1.00e-08    
.           3.21e+00    2.09e-15    1.78e-04    1.00e-08    
.           3.21e+00    2.09e-15    8.89e-05    1.00e-08    
.           3.21e+00    2.09e-15    4.45e-05    1.00e-08    
.           3.21e+00    2.09e-15    2.22e-05    1.00e-08    
.           3.21e+00    2.09e-15    1.11e-05    1.00e-08    
.           3.21e+00    2.09e-15    5.56e-06    1.00e-08    
.           3.21e+00    2.09e-15    2.78e-06    1.00e-08    
.           3.21e+00    2.09e-15    1.39e-06    1.00e-08    
.           3.21e+00    2.09e-15    6.95e-07    1.00e-08    
.           3.21e+00    2.09e-15    3.47e-07    1.00e-08    
.           3.21e+00    2.09e-15    1.74e-07    1.00e-08    
2           3.21e+00    3.58e+08    8.69e-08    1.65e+06    
...
42          3.20e+00    1.60e-15    7.56e-05    1.01e-06    
43          3.20e+00    1.25e-14    6.88e-06    1.00e-07    
44          3.20e+00    7.77e-15    6.80e-07    1.00e-08    
The optimal point for c=1.111111e-01 is: (6.000000e-01,-1.999999e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.20e+00    7.77e-15    6.80e-07    1.00e-08    
.           3.20e+00    7.77e-15    3.64e-01    1.00e-08    
.           3.20e+00    7.77e-15    1.82e-01    1.00e-08    
.           3.20e+00    7.77e-15    9.11e-02    1.00e-08    
.           3.20e+00    7.77e-15    4.55e-02    1.00e-08    
.           3.20e+00    7.77e-15    2.28e-02    1.00e-08    
.           3.20e+00    7.77e-15    1.14e-02    1.00e-08    
.           3.20e+00    7.77e-15    5.69e-03    1.00e-08    
.           3.20e+00    7.77e-15    2.85e-03    1.00e-08    
.           3.20e+00    7.77e-15    1.42e-03    1.00e-08    
.           3.20e+00    7.77e-15    7.12e-04    1.00e-08    
.           3.20e+00    7.77e-15    3.56e-04    1.00e-08    
.           3.20e+00    7.77e-15    1.78e-04    1.00e-08    
.           3.20e+00    7.77e-15    8.89e-05    1.00e-08    
.           3.20e+00    7.77e-15    4.45e-05    1.00e-08    
.           3.20e+00    7.77e-15    2.22e-05    1.00e-08    
.           3.20e+00    7.77e-15    1.11e-05    1.00e-08    
.           3.20e+00    7.77e-15    5.56e-06    1.00e-08    
.           3.20e+00    7.77e-15    2.78e-06    1.00e-08    
.           3.20e+00    7.77e-15    1.39e-06    1.00e-08    
.           3.20e+00    7.77e-15    6.95e-07    1.00e-08    
.           3.20e+00    7.77e-15    3.47e-07    1.00e-08    
.           3.20e+00    7.77e-15    1.74e-07    1.00e-08    
2           3.20e+00    3.58e+08    8.69e-08    1.78e+01    
...
39          3.20e+00    9.16e-16    2.01e-05    1.00e-06    
40          3.20e+00    6.28e-16    1.96e-06    1.00e-07    
41          3.20e+00    2.09e-15    1.96e-07    1.00e-08    
The optimal point for c=-1.111111e-01 is: (6.000000e-01,-2.000000e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.20e+00    2.09e-15    1.96e-07    1.00e-08    
.           3.20e+00    2.09e-15    3.64e-01    1.00e-08    
.           3.20e+00    2.09e-15    1.82e-01    1.00e-08    
.           3.20e+00    2.09e-15    9.11e-02    1.00e-08    
.           3.20e+00    2.09e-15    4.55e-02    1.00e-08    
.           3.20e+00    2.09e-15    2.28e-02    1.00e-08    
.           3.20e+00    2.09e-15    1.14e-02    1.00e-08    
.           3.20e+00    2.09e-15    5.69e-03    1.00e-08    
.           3.20e+00    2.09e-15    2.85e-03    1.00e-08    
.           3.20e+00    2.09e-15    1.42e-03    1.00e-08    
.           3.20e+00    2.09e-15    7.12e-04    1.00e-08    
.           3.20e+00    2.09e-15    3.56e-04    1.00e-08    
.           3.20e+00    2.09e-15    1.78e-04    1.00e-08    
.           3.20e+00    2.09e-15    8.89e-05    1.00e-08    
.           3.20e+00    2.09e-15    4.45e-05    1.00e-08    
.           3.20e+00    2.09e-15    2.22e-05    1.00e-08    
.           3.20e+00    2.09e-15    1.11e-05    1.00e-08    
.           3.20e+00    2.09e-15    5.56e-06    1.00e-08    
.           3.20e+00    2.09e-15    2.78e-06    1.00e-08    
.           3.20e+00    2.09e-15    1.39e-06    1.00e-08    
.           3.20e+00    2.09e-15    6.95e-07    1.00e-08    
.           3.20e+00    2.09e-15    3.47e-07    1.00e-08    
.           3.20e+00    2.09e-15    1.74e-07    1.00e-08    
2           3.20e+00    3.58e+08    8.69e-08    1.69e+01    
...
39          3.20e+00    9.93e-16    1.16e-05    1.00e-06    
40          3.20e+00    2.22e-16    1.16e-06    1.00e-07    
41          3.20e+00    2.22e-16    1.16e-07    1.00e-08    
The optimal point for c=-3.333333e-01 is: (6.000000e-01,-2.000000e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.20e+00    2.22e-16    1.16e-07    1.00e-08    
.           3.20e+00    2.22e-16    3.64e-01    1.00e-08    
.           3.20e+00    2.22e-16    1.82e-01    1.00e-08    
.           3.20e+00    2.22e-16    9.11e-02    1.00e-08    
.           3.20e+00    2.22e-16    4.55e-02    1.00e-08    
.           3.20e+00    2.22e-16    2.28e-02    1.00e-08    
.           3.20e+00    2.22e-16    1.14e-02    1.00e-08    
.           3.20e+00    2.22e-16    5.69e-03    1.00e-08    
.           3.20e+00    2.22e-16    2.85e-03    1.00e-08    
.           3.20e+00    2.22e-16    1.42e-03    1.00e-08    
.           3.20e+00    2.22e-16    7.12e-04    1.00e-08    
.           3.20e+00    2.22e-16    3.56e-04    1.00e-08    
.           3.20e+00    2.22e-16    1.78e-04    1.00e-08    
.           3.20e+00    2.22e-16    8.89e-05    1.00e-08    
.           3.20e+00    2.22e-16    4.45e-05    1.00e-08    
.           3.20e+00    2.22e-16    2.22e-05    1.00e-08    
.           3.20e+00    2.22e-16    1.11e-05    1.00e-08    
.           3.20e+00    2.22e-16    5.56e-06    1.00e-08    
.           3.20e+00    2.22e-16    2.78e-06    1.00e-08    
.           3.20e+00    2.22e-16    1.39e-06    1.00e-08    
.           3.20e+00    2.22e-16    6.95e-07    1.00e-08    
.           3.20e+00    2.22e-16    3.47e-07    1.00e-08    
.           3.20e+00    2.22e-16    1.74e-07    1.00e-08    
2           3.20e+00    3.58e+08    8.69e-08    1.67e+01    
...
40          3.20e+00    6.28e-16    8.38e-07    1.00e-07    
41          3.20e+00    4.97e-16    8.38e-08    1.00e-08    
The optimal point for c=-5.555556e-01 is: (6.000000e-01,-2.000000e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.20e+00    4.97e-16    8.38e-08    1.00e-08    
.           3.20e+00    4.97e-16    3.64e-01    1.00e-08    
.           3.20e+00    4.97e-16    1.82e-01    1.00e-08    
.           3.20e+00    4.97e-16    9.11e-02    1.00e-08    
.           3.20e+00    4.97e-16    4.55e-02    1.00e-08    
.           3.20e+00    4.97e-16    2.28e-02    1.00e-08    
.           3.20e+00    4.97e-16    1.14e-02    1.00e-08    
.           3.20e+00    4.97e-16    5.69e-03    1.00e-08    
.           3.20e+00    4.97e-16    2.85e-03    1.00e-08    
.           3.20e+00    4.97e-16    1.42e-03    1.00e-08    
.           3.20e+00    4.97e-16    7.12e-04    1.00e-08    
.           3.20e+00    4.97e-16    3.56e-04    1.00e-08    
.           3.20e+00    4.97e-16    1.78e-04    1.00e-08    
.           3.20e+00    4.97e-16    8.89e-05    1.00e-08    
.           3.20e+00    4.97e-16    4.45e-05    1.00e-08    
.           3.20e+00    4.97e-16    2.22e-05    1.00e-08    
.           3.20e+00    4.97e-16    1.11e-05    1.00e-08    
.           3.20e+00    4.97e-16    5.56e-06    1.00e-08    
.           3.20e+00    4.97e-16    2.78e-06    1.00e-08    
.           3.20e+00    4.97e-16    1.39e-06    1.00e-08    
.           3.20e+00    4.97e-16    6.95e-07    1.00e-08    
.           3.20e+00    4.97e-16    3.47e-07    1.00e-08    
.           3.20e+00    4.97e-16    1.74e-07    1.00e-08    
2           3.20e+00    3.58e+08    8.69e-08    1.67e+01    
...
39          3.20e+00    0.00e+00    6.75e-05    1.00e-05    
40          3.20e+00    9.93e-16    6.67e-06    1.00e-06    
41          3.20e+00    4.44e-16    6.67e-07    1.00e-07    
42          3.20e+00    4.97e-16    6.67e-08    1.00e-08    
The optimal point for c=-7.777778e-01 is: (6.000000e-01,-2.000000e-01)
iter        f(x)        ||grad||    ||dx||      mu_est      
1           3.20e+00    4.97e-16    6.67e-08    1.00e-08    
.           3.20e+00    4.97e-16    8.55e-02    1.00e-08    
.           3.20e+00    4.97e-16    4.28e-02    1.00e-08    
.           3.20e+00    4.97e-16    2.14e-02    1.00e-08    
.           3.20e+00    4.97e-16    1.07e-02    1.00e-08    
.           3.20e+00    4.97e-16    5.35e-03    1.00e-08    
.           3.20e+00    4.97e-16    2.67e-03    1.00e-08    
.           3.20e+00    4.97e-16    1.34e-03    1.00e-08    
.           3.20e+00    4.97e-16    6.68e-04    1.00e-08    
.           3.20e+00    4.97e-16    3.34e-04    1.00e-08    
.           3.20e+00    4.97e-16    1.67e-04    1.00e-08    
.           3.20e+00    4.97e-16    8.35e-05    1.00e-08    
.           3.20e+00    4.97e-16    4.18e-05    1.00e-08    
.           3.20e+00    4.97e-16    2.09e-05    1.00e-08    
.           3.20e+00    4.97e-16    1.04e-05    1.00e-08    
.           3.20e+00    4.97e-16    5.22e-06    1.00e-08    
.           3.20e+00    4.97e-16    2.61e-06    1.00e-08    
.           3.20e+00    4.97e-16    1.31e-06    1.00e-08    
.           3.20e+00    4.97e-16    6.53e-07    1.00e-08    
.           3.20e+00    4.97e-16    3.26e-07    1.00e-08    
.           3.20e+00    4.97e-16    1.63e-07    1.00e-08    
2           3.20e+00    3.58e+08    8.16e-08    1.57e+01    
3           3.20e+00    3.58e+06    8.16e-08    6.57e-01    
... 
38          3.20e+00    2.22e-16    6.01e-04    1.00e-04    
39          3.20e+00    4.97e-16    5.67e-05    1.00e-05    
40          3.20e+00    0.00e+00    5.63e-06    1.00e-06    
41          3.20e+00    4.97e-16    5.63e-07    1.00e-07    
42          3.20e+00    4.97e-16    5.63e-08    1.00e-08    
The optimal point for c=-1.000000e+00 is: (6.000000e-01,-2.000000e-01)

Note, I truncated things since I ran over the character limit for this board. Alright, so it works, but not exceptionally well. Let me explain why. Basically, the inequalities are handled with a primal dual interior point method. Generally, the name of the game in such methods is to play games with the barrier parameter mu to help guide the solution into the optimal point. If we run into the boundary too quickly, the algorithm may be able to recover, but generally it’s going to be slow since it’s going to run itself into the boundary over and over again. There is a body of research that talks about how to warm start an interior point method effectively, but generally that work has been done with linear, rather than nonlinear, cone problems. Perhaps it carries over well, but I’ve never investigated it closely.

Alright, none of that really helps you all that much. Here’s the immediate fix:

Set opt_stop to NotConverged
Set iter to 1
Set mu to something kind of big to help push off the boundary. In the absence of a good idea, I use 1.
Set glob_iter_max to something big because the first iteration is going to be rough.

Now, are there better options than this? Yes. Personally, if you’re going to do a lot of warm starts and the solution doesn’t change that much, I like the reflective Newton method from Coleman and Li in their paper “An Interior Trust Region Approach For Nonlinear Minimization Subject to Bounds”. I find the reflective stuff to be kind of a gimmick. That said, if your solutions are close together so that you stay inside the Newton convergence radius, then this algorithm is really good and it doesn’t care if the new problem makes the old problem infeasible. If the solutions are farther away, then things may get more dicey.

If your problem was linear, then the easy answer would be to just add the new constraint and solve the dual problem with the simplex method (or, really, dual simplex.) If the solution is close by, then perhaps only a couple of pivots are necessary, which are fast. This is what integer programming solvers do when implementing branch and bound. For nonlinear problems, we most often can’t play the duality trick. Maybe there’s a trick. Likely an active set method would work fine, but there probably needs to be some care in determining the initial set of active constraints and dealing with adding a new constraint that breaks feasibility.

Alright, so there are other algorithms that work for this case better. That said, unfortunately, Optizelle doesn’t implement them! That’s, well, unfortunate. I am working on an updated version of the interior point method that would perhaps make this easier, but, really, a primal-dual interior point method isn’t super well suited for this kind of task unless there’s been some new update in research that I’m not aware of.

Now, at the very least, the code should not crash. That’s worrying. If you have something manageably sized that demonstrates the crash, I’d like to have a look.

Short of that, use the trick above to maybe, sort of, force it to work. Ultimately though, you’ll likely need a different algorithm.

Nate · May 10, 2017, 9:00pm

Hi Joe, thank you very much. That was helpful in getting me started. Although it still wasn’t really solving well. I ended up needing to do a few more things to make it work. In the end I called write_restart on the “old” state that I wanted to reuse, and called it as well on a freshly initialized state. I then changed all the parameters in the old state to match those from the freshly initialized state. I haven’t yet backed them off to see which ones are really necessary. Thanks again!

joe · May 11, 2017, 7:23pm

No problem! Let me put some thought into a better inferface for warm starting. This is a relatively common use case and what you’re doing is way too elaborate.