Add a structured list of solvers (#380)

* Start sketich the list, keeping a temp which ones to sort in still.
* Finish a list of  algorithms grouped by features.
* Adds two symbols as indicators for state-of-the-art and robust.
* Add a missing description, change menu entry for the list of solvers.

---------

Co-authored-by: Mateusz Baran <[email protected]>

Changelog.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 * Tests now also use `Aqua.jl` to spot problems in the code, e.g. ambiguities.
+* introduce a feature-based list of solvers and reduce the details in the alphabetical list
 
 ### Fixed
 

docs/make.jl

@@ -166,7 +166,7 @@ makedocs(;
         "About" => "about.md",
         (tutorials_in_menu ? [tutorials_menu] : [])...,
         "Solvers" => [
-            "Introduction" => "solvers/index.md",
+            "List of Solvers" => "solvers/index.md",
             "Adaptive Regularization with Cubics" => "solvers/adaptive-regularization-with-cubics.md",
             "Alternating Gradient Descent" => "solvers/alternating_gradient_descent.md",
             "Augmented Lagrangian Method" => "solvers/augmented_Lagrangian_method.md",

docs/src/solvers/index.md

@@ -1,43 +1,123 @@
 
-# List of available solvers
+# Available solvers in Manopt.jl
 
 ```@meta
 CurrentModule = Manopt
 ```
 
-Solvers can be applied to [`AbstractManoptProblem`](@ref)s with solver
-specific [`AbstractManoptSolverState`](@ref).
+Optimisation problems can be classified with respect to several criteria.
+In the following we provide a grouping of the algorithms with respect to the “information”
+available about your optimisation problem
 
-# List of algorithms
+```math
+\operatorname*{arg\,min}_{p∈\mathbb M} f(p)
+```
+
+Within the groups we provide short notes on advantages of the individual solvers, pointing our properties the cost ``f`` should have.
+We use 🏅 to indicate state-of-the-art solvers, that usually perform best in their corresponding group and 🫏 for a maybe not so fast, maybe not so state-of-the-art method, that nevertheless gets the job done most reliably.
+
+## Derivative Free
+
+For derivative free only function evaluations of ``f`` are used.
+
+* [Nelder-Mead](NelderMead.md) a simplex based variant, that is using ``d+1`` points, where ``d`` is the dimension of the manifold.
+* [Particle Swarm](particle_swarm.md) 🫏 use the evolution of a set of points, called swarm, to explore the domain of the cost and find a minimizer.
+* [CMA-ES](cma_es.md) uses a stochastic evolutionary strategy to perform minimization robust to local minima of the objective.
+
+## First Order
+
+### Gradient
+
+* [Gradient Descent](gradient_descent.md) uses the gradient from ``f`` to determine a descent direction. Here, the direction can also be changed to be Averaged, Momentum-based, based on Nesterovs rule.
+* [Conjugate Gradient Descent](conjugate_gradient_descent.md) uses information from the previous descent direction to improve the current (gradient-based) one including several such update rules.
+* The [Quasi-Newton Method](quasi_Newton.md) 🏅 uses gradient evaluations to approximate the Hessian, which is then used in a Newton-like scheme, where both a limited memory and a full Hessian approximation are available with several different update rules.
+* [Steihaug-Toint Truncated Conjugate-Gradient Method](@ref tCG) a solver for a constrained problem defined on a tangent space.
+
+### Subgradient
+
+The following methods require the Riemannian subgradient ``∂f`` to be available.
+While the subgradient might be set-valued, the function should provide one of the subgradients.
+
+* The [Subgradient Method](subgradient.md) takes the negative subgradient as a step direction and can be combined with a step size.
+* The [Convex Bundle Method](convex_bundle_method.md) (CBM) uses a former collection of sub gradients at the previous iterates and iterate candidates to solve a local approximation to `f` in every iteration by solving a quadratic problem in the tangent space.
+* The [Proximal Bundle Method](proximal_bundle_method.md) works similar to CBM, but solves a proximal map-based problem in every iteration.
+
+## Second Order
+
+* [Adaptive Regularisation with Cubics](adaptive-regularization-with-cubics.md) 🏅 locally builds a cubic model to determine the next descent direction.
+* The [Riemannian Trust-Regions Solver](trust_regions.md) builds a quadratic model within a trust region to determine the next descent direction.
+
+## Splitting based
+
+For splitting methods, the algorithms are based on splitting the cost into different parts, usually in a sum of two or more summands.
+This is usually very well tailored for non-smooth objectives.
+
+### Smooth
+
+The following methods require that the splitting, for example into several summands, is smooth in the sense that for every summand of the cost, the gradient should still exist everywhere
+
+* [Levenberg-Marquardt](LevenbergMarquardt.md) minimizes the square norm of ``f: \mathcal M→ℝ^d`` provided the gradients of the component functions, or in other words the Jacobian of ``f``.
+* [Stochastic Gradient Descent](stochastic_gradient_descent.md) is based on a splitting of ``f`` into a sum of several components ``f_i`` whose gradients are provided. Steps are performed according to gradients of randomly selected components.
+* The [Alternating Gradient Descent](@ref solver-alternating-gradient-descent) alternates gradient descent steps on the components of the product manifold. All these components should be smooth aso the gradient exists, and (locally) convex.
+
+### Nonsmooth
+
+If the gradient does not exist everywhere, that is if the splitting yields summands that are nonsmooth, usually methods based on proximal maps are used.
+
+* The [Chambolle-Pock](ChambollePock.md) algorithm uses a splitting ``f(p) = F(p) + G(Λ(p))``,
+  where ``G`` is defined on a manifold ``\mathcal N`` and we need the proximal map of its Fenchel dual. Both these functions can be non-smooth.
+* The [Cyclic Proximal Point](cyclic_proximal_point.md) 🫏 uses proximal maps of the functions from splitting ``f`` into summands ``f_i``
+* [Difference of Convex Algorithm](@ref solver-difference-of-convex) (DCA) uses a splitting of the (nonconvex) function ``f = g - h`` into a difference of two functions; for each of these we require the gradient of ``g`` and the subgradient of ``h`` to state a sub problem in every iteration to be solved.
+* [Difference of Convex Proximal Point](@ref solver-difference-of-convex-proximal-point) uses a splitting of the (nonconvex) function ``f = g - h`` into a difference of two functions; provided the proximal map of ``g`` and the subgradient of ``h``, the next iterate is computed. Compared to DCA, the correpsonding sub problem is here written in a form that yields the proximal map.
+* [Douglas—Rachford](DouglasRachford.md) uses a splitting ``f(p) = F(x) + G(x)`` and their proximal maps to compute a minimizer of ``f``, which can be non-smooth.
+* [Primal-dual Riemannian semismooth Newton Algorithm](@ref solver-pdrssn) extends Chambolle-Pock and requires the differentials of the proximal maps additionally.
+
+## Constrained
+
+Constrained problems of the form
+
+```math
+\begin{align*}
+\operatorname*{arg\,min}_{p∈\mathbb M}& f(p)\\
+\text{such that } & g(p) \leq 0\\&h(p) = 0
+\end{align*}
+```
+
+For these you can use
+
+* The [Augmented Lagrangian Method](augmented_Lagrangian_method.md) (ALM), where both `g` and `grad_g` as well as `h` and `grad_h` are keyword arguments, and one of these pairs is mandatory.
+* The [Exact Penalty Method](exact_penalty_method.md) (EPM) uses a penalty term instead of augmentation, but has the same interface as ALM.
+* [Frank-Wolfe algorithm](FrankWolfe.md), where besides the gradient of ``f`` either a closed form solution or a (maybe even automatically generated) sub problem solver for ``\operatorname*{arg\,min}_{q ∈ C} ⟨\operatorname{grad} f(p_k), \log_{p_k}q⟩`` is required, where ``p_k`` is a fixed point on the manifold (changed in every iteration).
 
-The following algorithms are currently available
+# Alphabetical list List of algorithms
 
-| Solver   | Function & State    | Objective   |
+| Solver   | Function        | State   |
 |:---------|:----------------|:---------|
-[Alternating Gradient Descent](@ref solver-alternating-gradient-descent) | [`alternating_gradient_descent`](@ref) [`AlternatingGradientDescentState`](@ref) | ``f=(f_1,\ldots,f_n)``, ``\operatorname{grad} f_i`` |
-[Augmented Lagrangian Method](augmented_Lagrangian_method.md) | [`augmented_Lagrangian_method`](@ref), [`AugmentedLagrangianMethodState`](@ref) | ``f``, ``\operatorname{grad} f``, ``g``, ``\operatorname{grad} g_i``, ``h``, ``\operatorname{grad} h_j`` |
-[Chambolle-Pock](ChambollePock.md) | [`ChambollePock`](@ref), [`ChambollePockState`](@ref) (using [`TwoManifoldProblem`](@ref)) | ``f=F+G(Λ\cdot)``, ``\operatorname{prox}_{σ F}``, ``\operatorname{prox}_{τ G^*}``, ``Λ`` |
-[Conjugate Gradient Descent](conjugate_gradient_descent.md) | [`conjugate_gradient_descent`](@ref), [`ConjugateGradientDescentState`](@ref) | ``f``, ``\operatorname{grad} f``
-[Convex Bundle Method](convex_bundle_method.md) | [`convex_bundle_method`](@ref), [`ConvexBundleMethodState`](@ref) | ``f``, ``\partial f``
-[Cyclic Proximal Point](cyclic_proximal_point.md) | [`cyclic_proximal_point`](@ref), [`CyclicProximalPointState`](@ref) | ``f=\sum f_i``, ``\operatorname{prox}_{\lambda f_i}`` |
-[Difference of Convex Algorithm](@ref solver-difference-of-convex) | [`difference_of_convex_algorithm`](@ref), [`DifferenceOfConvexState`](@ref) | ``f=g-h``, ``∂h``, and for example ``g``, ``\operatorname{grad} g`` |
-[Difference of Convex Proximal Point](@ref solver-difference-of-convex-proximal-point) | [`difference_of_convex_proximal_point`](@ref), [`DifferenceOfConvexProximalState`](@ref) | ``f=g-h``, ``∂h``, and for example ``g``, ``\operatorname{grad} g`` |
-[Douglas—Rachford](DouglasRachford.md) | [`DouglasRachford`](@ref), [`DouglasRachfordState`](@ref) | ``f=\sum f_i``, ``\operatorname{prox}_{\lambda f_i}`` |
-[Exact Penalty Method](exact_penalty_method.md) | [`exact_penalty_method`](@ref), [`ExactPenaltyMethodState`](@ref) | ``f``, ``\operatorname{grad} f``, ``g``, ``\operatorname{grad} g_i``, ``h``, ``\operatorname{grad} h_j`` |
-[Frank-Wolfe algorithm](FrankWolfe.md) | [`Frank_Wolfe_method`](@ref), [`FrankWolfeState`](@ref) | sub-problem solver |
-[Gradient Descent](gradient_descent.md) | [`gradient_descent`](@ref), [`GradientDescentState`](@ref) | ``f``, ``\operatorname{grad} f`` |
-[Levenberg-Marquardt](LevenbergMarquardt.md) | [`LevenbergMarquardt`](@ref), [`LevenbergMarquardtState`](@ref) | ``f = \sum_i f_i`` ``\operatorname{grad} f_i`` (Jacobian)|
-[Nelder-Mead](NelderMead.md) | [`NelderMead`](@ref), [`NelderMeadState`](@ref) | ``f``
-[Particle Swarm](particle_swarm.md) | [`particle_swarm`](@ref), [`ParticleSwarmState`](@ref) | ``f`` |
-[Primal-dual Riemannian semismooth Newton Algorithm](@ref solver-pdrssn) | [`primal_dual_semismooth_Newton`](@ref),  [`PrimalDualSemismoothNewtonState`](@ref) (using [`TwoManifoldProblem`](@ref)) | ``f=F+G(Λ\cdot)``, ``\operatorname{prox}_{σ F}`` & diff., ``\operatorname{prox}_{τ G^*}`` & diff., ``Λ``
-[Proximal Bundle Method](proximal_bundle_method.md) | [`proximal_bundle_method`](@ref), [`ProximalBundleMethodState`](@ref) | ``f``, ``\partial f``
-[Quasi-Newton Method](quasi_Newton.md) | [`quasi_Newton`](@ref), [`QuasiNewtonState`](@ref) | ``f``, ``\operatorname{grad} f`` |
-[Steihaug-Toint Truncated Conjugate-Gradient Method](@ref tCG) | [`truncated_conjugate_gradient_descent`](@ref), [`TruncatedConjugateGradientState`](@ref) | ``f``, ``\operatorname{grad} f``, ``\operatorname{Hess} f`` |
-[Subgradient Method](subgradient.md) | [`subgradient_method`](@ref), [`SubGradientMethodState`](@ref) | ``f``, ``∂ f`` |
-[Stochastic Gradient Descent](stochastic_gradient_descent.md) | [`stochastic_gradient_descent`](@ref), [`StochasticGradientDescentState`](@ref) | ``f = \sum_i f_i``, ``\operatorname{grad} f_i`` |
-[The Riemannian Trust-Regions Solver](trust_regions.md) | [`trust_regions`](@ref), [`TrustRegionsState`](@ref) | ``f``, ``\operatorname{grad} f``, ``\operatorname{Hess} f`` |
-
-Note that the solvers (their [`AbstractManoptSolverState`](@ref), to be precise) can also be decorated to enhance your algorithm by general additional properties, see [debug output](@ref sec-debug) and [recording values](@ref sec-record). This is done using the `debug=` and `record=` keywords in the function calls. Similarly, since Manopt.jl 0.4 a (simple) [caching of the objective function](@ref subsection-cache-objective) using the `cache=` keyword is available in any of the function calls..
+| [Adaptive Regularisation with Cubics](adaptive-regularization-with-cubics.md) | [`adaptive_regularization_with_cubics`](@ref) | [`AdaptiveRegularizationState`](@ref) |
+| [Augmented Lagrangian Method](augmented_Lagrangian_method.md) | [`augmented_Lagrangian_method`](@ref) | [`AugmentedLagrangianMethodState`](@ref) |
+| [Chambolle-Pock](ChambollePock.md) | [`ChambollePock`](@ref) | [`ChambollePockState`](@ref) |
+| [Conjugate Gradient Descent](conjugate_gradient_descent.md) | [`conjugate_gradient_descent`](@ref) | [`ConjugateGradientDescentState`](@ref) |
+| [Convex Bundle Method](convex_bundle_method.md) | [`convex_bundle_method`](@ref) |  [`ConvexBundleMethodState`](@ref) |
+| [Cyclic Proximal Point](cyclic_proximal_point.md) | [`cyclic_proximal_point`](@ref) |  [`CyclicProximalPointState`](@ref) |
+| [Difference of Convex Algorithm](@ref solver-difference-of-convex) | [`difference_of_convex_algorithm`](@ref) | [`DifferenceOfConvexState`](@ref) |
+| [Difference of Convex Proximal Point](@ref solver-difference-of-convex-proximal-point) | [`difference_of_convex_proximal_point`](@ref) | [`DifferenceOfConvexProximalState`](@ref) |
+| [Douglas—Rachford](DouglasRachford.md) | [`DouglasRachford`](@ref) | [`DouglasRachfordState`](@ref) |
+| [Exact Penalty Method](exact_penalty_method.md) | [`exact_penalty_method`](@ref) |  [`ExactPenaltyMethodState`](@ref) |
+| [Frank-Wolfe algorithm](FrankWolfe.md) | [`Frank_Wolfe_method`](@ref) | [`FrankWolfeState`](@ref) |
+| [Gradient Descent](gradient_descent.md) | [`gradient_descent`](@ref) |  [`GradientDescentState`](@ref) |
+| [Levenberg-Marquardt](LevenbergMarquardt.md) | [`LevenbergMarquardt`](@ref) | [`LevenbergMarquardtState`](@ref) | ``f = \sum_i f_i`` ``\operatorname{grad} f_i`` (Jacobian)|
+| [Nelder-Mead](NelderMead.md) | [`NelderMead`](@ref) | [`NelderMeadState`](@ref) |
+| [Particle Swarm](particle_swarm.md) | [`particle_swarm`](@ref) | [`ParticleSwarmState`](@ref) |
+[Primal-dual Riemannian semismooth Newton Algorithm](@ref solver-pdrssn) | [`primal_dual_semismooth_Newton`](@ref) | [`PrimalDualSemismoothNewtonState`](@ref) |
+| [Proximal Bundle Method](proximal_bundle_method.md) | [`proximal_bundle_method`](@ref) | [`ProximalBundleMethodState`](@ref) |
+| [Quasi-Newton Method](quasi_Newton.md) | [`quasi_Newton`](@ref) | [`QuasiNewtonState`](@ref) |
+| [Steihaug-Toint Truncated Conjugate-Gradient Method](@ref tCG) | [`truncated_conjugate_gradient_descent`](@ref) | [`TruncatedConjugateGradientState`](@ref) |
+| [Subgradient Method](subgradient.md) | [`subgradient_method`](@ref) | [`SubGradientMethodState`](@ref) |
+| [Stochastic Gradient Descent](stochastic_gradient_descent.md) | [`stochastic_gradient_descent`](@ref) | [`StochasticGradientDescentState`](@ref) |
+| [Riemannian Trust-Regions](trust_regions.md) | [`trust_regions`](@ref) | [`TrustRegionsState`](@ref) |
+
+
+Note that the solvers (their [`AbstractManoptSolverState`](@ref), to be precise) can also be decorated to enhance your algorithm by general additional properties, see [debug output](@ref sec-debug) and [recording values](@ref sec-record). This is done using the `debug=` and `record=` keywords in the function calls. Similarly, a `cache=` keyword is available in any of the function calls, that wraps the [`AbstractManoptProblem`](@ref) in a cache for certain parts of the objective.
 
 ## Technical details
 

src/solvers/FrankWolfe.jl

@@ -19,7 +19,7 @@ It comes in two forms, depending on the realisation of the `subproblem`.
 The sub task requires a method to solve
 
 ```math
-    \operatorname*{argmin}_{q∈\mathcal M} ⟨X, \log_p q⟩,\qquad \text{ where }X=\operatorname{grad} f(p)
+   \operatorname*{arg\,min}_{q ∈ C} ⟨\operatorname{grad} f(p_k), \log_{p_k}q⟩.
 ```
 
 # Constructor
@@ -135,7 +135,7 @@ where the main step is a constrained optimisation is within the algorithm,
 that is the sub problem (Oracle)
 
 ```math
-    q_k = \operatorname{arg\,min}_{q ∈ C} ⟨\operatorname{grad} F(p_k), \log_{p_k}q⟩.
+    q_k = \operatorname*{arg\,min}_{q ∈ C} ⟨\operatorname{grad} f(p_k), \log_{p_k}q⟩.
 ```
 
 for every iterate ``p_k`` together with a stepsize ``s_k≤1``, by default ``s_k = \frac{2}{k+2}``.

src/solvers/LevenbergMarquardt.jl

@@ -4,7 +4,7 @@
 Solve an optimization problem of the form
 
 ```math
-\operatorname{arg\,min}_{p ∈ \mathcal M} \frac{1}{2} \lVert f(p) \rVert^2,
+\operatorname*{arg\,min}_{p ∈ \mathcal M} \frac{1}{2} \lVert f(p) \rVert^2,
 ```
 
 where ``f: \mathcal M → ℝ^d`` is a continuously differentiable function,