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diluculodiluculo
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Fix bug in Trust Region subproblem implementation
Changed the ITrustRegionSubproblem interface to directly accept scaled gradient and Hessian matrices instead of accessing them from IObjectiveModel.
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5 files changed

+66
-34
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5 files changed

+66
-34
lines changed

‎src/Numerics/Optimization/TrustRegion/ITrustRegionSubProblem.cs‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -20,10 +20,11 @@ public interface ITrustRegionSubproblem
2020
bool HitBoundary { get; }
2121

2222
/// <summary>
23-
/// Solves the trust region subproblem for the specified objective model and trust region radius.
23+
/// Solves the trust region subproblem using the provided gradient and Hessian.
2424
/// </summary>
25-
/// <param name="objective">The objective model containing function, gradient, and Hessian information.</param>
26-
/// <param name="radius">The radius of the trust region.</param>
27-
void Solve(IObjectiveModel objective, double radius);
25+
/// <param name="gradient">The scaled gradient vector</param>
26+
/// <param name="hessian">The scaled Hessian matrix</param>
27+
/// <param name="delta">Trust region radius</param>
28+
void Solve(Vector<double> gradient, Matrix<double> hessian, double delta);
2829
}
2930
}

‎src/Numerics/Optimization/TrustRegion/Subproblems/DogLegSubproblem.cs‎

Lines changed: 4 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -8,17 +8,14 @@ internal class DogLegSubproblem : ITrustRegionSubproblem
88

99
public bool HitBoundary { get; private set; }
1010

11-
public void Solve(IObjectiveModel objective, double delta)
11+
public void Solve(Vector<double> gradient, Matrix<double> hessian, double delta)
1212
{
13-
var Gradient = objective.Gradient;
14-
var Hessian = objective.Hessian;
15-
1613
// newton point, the Gauss–Newton step by solving the normal equations
17-
var Pgn = -Hessian.PseudoInverse() * Gradient; // Hessian.Solve(Gradient) fails so many times...
14+
var Pgn = -hessian.PseudoInverse() * gradient; // hessian.Solve(gradient) fails so many times...
1815

1916
// cauchy point, steepest descent direction is given by
20-
var alpha = Gradient.DotProduct(Gradient) / (Hessian * Gradient).DotProduct(Gradient);
21-
var Psd = -alpha * Gradient;
17+
var alpha = gradient.DotProduct(gradient) / (hessian * gradient).DotProduct(gradient);
18+
var Psd = -alpha * gradient;
2219

2320
// update step and prectted reduction
2421
if (Pgn.L2Norm() <= delta)

‎src/Numerics/Optimization/TrustRegion/Subproblems/NewtonCGSubproblem.cs‎

Lines changed: 16 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -9,29 +9,36 @@ internal class NewtonCGSubproblem : ITrustRegionSubproblem
99

1010
public bool HitBoundary { get; private set; }
1111

12-
public void Solve(IObjectiveModel objective, double delta)
12+
public void Solve(Vector<double> gradient, Matrix<double> hessian, double delta)
1313
{
14-
var Gradient = objective.Gradient;
15-
var Hessian = objective.Hessian;
16-
1714
// define tolerance
18-
var gnorm = Gradient.L2Norm();
15+
var gnorm = gradient.L2Norm();
1916
var tolerance = Math.Min(0.5, Math.Sqrt(gnorm)) * gnorm;
2017

2118
// initialize internal variables
22-
var z = Vector<double>.Build.Dense(Hessian.RowCount);
23-
var r = Gradient;
19+
var z = Vector<double>.Build.Dense(hessian.RowCount);
20+
var r = gradient;
2421
var d = -r;
2522

2623
while (true)
2724
{
28-
var Bd = Hessian * d;
25+
var Bd = hessian * d;
2926
var dBd = d.DotProduct(Bd);
3027

3128
if (dBd <= 0)
3229
{
30+
// Direction of negative curvature found
31+
// Calculate two boundary points and choose the one with lower model value
3332
var t = Util.FindBeta(1, z, d, delta);
34-
Pstep = z + t.Item1 * d;
33+
var pa = z + t.Item1 * d;
34+
var pb = z + t.Item2 * d;
35+
36+
// Evaluate quadratic model at both points
37+
var valueA = Util.CalculateQuadraticModel(gradient, hessian, pa);
38+
var valueB = Util.CalculateQuadraticModel(gradient, hessian, pb);
39+
40+
// Choose the point with the lower model value
41+
Pstep = valueA < valueB ? pa : pb;
3542
HitBoundary = true;
3643
return;
3744
}

‎src/Numerics/Optimization/TrustRegion/Subproblems/Util.cs‎

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,14 @@ namespace MathNet.Numerics.Optimization.TrustRegion.Subproblems
55
{
66
internal static class Util
77
{
8+
/// <summary>
9+
/// Finds the two intersection points of a line with the trust region boundary.
10+
/// </summary>
11+
/// <param name="alpha">Scaling factor for steepest descent direction</param>
12+
/// <param name="sd">Steepest descent direction vector</param>
13+
/// <param name="gn">Gauss-Newton direction vector</param>
14+
/// <param name="delta">Trust region radius</param>
15+
/// <returns>A tuple containing two beta values, sorted from low to high</returns>
816
public static (double, double) FindBeta(double alpha, Vector<double> sd, Vector<double> gn, double delta)
917
{
1018
// Pstep is intersection of the trust region boundary
@@ -29,5 +37,24 @@ public static (double, double) FindBeta(double alpha, Vector<double> sd, Vector<
2937
// return sorted beta
3038
return beta1 < beta2 ? (beta1, beta2) : (beta2, beta1);
3139
}
40+
41+
/// <summary>
42+
/// Calculates the value of the quadratic model at a given point.
43+
/// The quadratic model is defined as:
44+
/// m(p) = g^T * p + 0.5 * p^T * H * p
45+
/// where g is the gradient and H is the Hessian at the current point.
46+
/// </summary>
47+
/// <param name="gradient">The gradient vector</param>
48+
/// <param name="hessian">The Hessian matrix</param>
49+
/// <param name="p">The point at which to evaluate the quadratic model</param>
50+
/// <returns>The value of the quadratic model at point p</returns>
51+
public static double CalculateQuadraticModel(Vector<double> gradient, Matrix<double> hessian, Vector<double> p)
52+
{
53+
// Quadratic model: m(p) = g^T * p + 0.5 * p^T * H * p
54+
var linearTerm = gradient.DotProduct(p);
55+
var quadraticTerm = 0.5 * p.DotProduct(hessian * p);
56+
57+
return linearTerm + quadraticTerm;
58+
}
3259
}
3360
}

‎src/Numerics/Optimization/TrustRegion/TrustRegionMinimizerBase.cs‎

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -88,8 +88,8 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
8888
// Residuals, R = L(y - f(x; p))
8989
// Residual sum of squares, RSS = ||R||^2 = R.DotProduct(R)
9090
// Jacobian J = df(x; p)/dp
91-
// Gradient g = -J'W(y − f(x; p)) = -J'LR
92-
// Approximated Hessian H = J'WJ
91+
// gradient g = -J'W(y − f(x; p)) = -J'LR
92+
// Approximated hessian H = J'WJ
9393
//
9494
// The trust region algorithm is summarized as follows:
9595
// initially set trust-region radius, Δ
@@ -120,7 +120,7 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
120120

121121
objective.SetParameters(initialGuess, isFixed);
122122

123-
ExitCondition exitCondition = ExitCondition.None;
123+
var exitCondition = ExitCondition.None;
124124

125125
// First, calculate function values and setup variables
126126
var P = ProjectToInternalParameters(initialGuess); // current internal parameters
@@ -151,11 +151,11 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
151151
exitCondition = ExitCondition.Converged; // SmallRSS
152152
}
153153

154-
// evaluate projected gradient and Hessian
155-
var (Gradient, Hessian) = EvaluateJacobian(objective, P);
154+
// evaluate projected gradient and hessian
155+
var (gradient, hessian) = EvaluateJacobian(objective, P);
156156

157157
// if ||g||_oo <= gtol, found and stop
158-
if (Gradient.InfinityNorm() <= gradientTolerance)
158+
if (gradient.InfinityNorm() <= gradientTolerance)
159159
{
160160
exitCondition = ExitCondition.RelativeGradient; // SmallGradient
161161
}
@@ -166,22 +166,22 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
166166
}
167167

168168
// initialize trust-region radius, Δ
169-
double delta = Gradient.DotProduct(Gradient) / (Hessian * Gradient).DotProduct(Gradient);
169+
var delta = gradient.DotProduct(gradient) / (hessian * gradient).DotProduct(gradient);
170170
delta = Math.Max(1.0, Math.Min(delta, maxDelta));
171171

172-
int iterations = 0;
172+
var iterations = 0;
173173
bool hitBoundary;
174174
while (iterations < maximumIterations && exitCondition == ExitCondition.None)
175175
{
176176
iterations++;
177177

178178
// solve the subproblem
179-
subproblem.Solve(objective, delta);
179+
subproblem.Solve(gradient, hessian, delta);
180180
Pstep = subproblem.Pstep;
181181
hitBoundary = subproblem.HitBoundary;
182182

183183
// predicted reduction = L(0) - L(Δp) = -Δp'g - 1/2 * Δp'HΔp
184-
var predictedReduction = -Gradient.DotProduct(Pstep) - 0.5 * Pstep.DotProduct(Hessian * Pstep);
184+
var predictedReduction = -gradient.DotProduct(Pstep) - 0.5 * Pstep.DotProduct(hessian * Pstep);
185185

186186
if (Pstep.L2Norm() <= stepTolerance * (stepTolerance + P.L2Norm()))
187187
{
@@ -201,7 +201,7 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
201201
}
202202

203203
// calculate the ratio of the actual to the predicted reduction.
204-
double rho = (predictedReduction != 0)
204+
var rho = (predictedReduction != 0)
205205
? (RSS - RSSnew) / predictedReduction
206206
: 0.0;
207207

@@ -225,11 +225,11 @@ public NonlinearMinimizationResult Minimum(ITrustRegionSubproblem subproblem, IO
225225
Pnew.CopyTo(P);
226226
RSS = RSSnew;
227227

228-
// evaluate projected gradient and Hessian
229-
(Gradient, Hessian) = EvaluateJacobian(objective, P);
228+
// evaluate projected gradient and hessian
229+
(gradient, hessian) = EvaluateJacobian(objective, P);
230230

231231
// if ||g||_oo <= gtol, found and stop
232-
if (Gradient.InfinityNorm() <= gradientTolerance)
232+
if (gradient.InfinityNorm() <= gradientTolerance)
233233
{
234234
exitCondition = ExitCondition.RelativeGradient;
235235
}

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