Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: SGD for robot motion? The effectiveness of stochastic optimization on a
  new benchmark for biped locomotion tasks   Trajectory optimization and posture generation are hard problems in robot
locomotion, which can be non-convex and have multiple local optima. Progress on
these problems is further hindered by a lack of open benchmarks, since
comparisons of different solutions are difficult to make. In this paper we
introduce a new benchmark for trajectory optimization and posture generation of
legged robots, using a pre-defined scenario, robot and constraints, as well as
evaluation criteria. We evaluate state-of-the-art trajectory optimization
algorithms based on sequential quadratic programming (SQP) on the benchmark, as
well as new stochastic and incremental optimization methods borrowed from the
large-scale machine learning literature. Interestingly we show that some of
these stochastic and incremental methods, which are based on stochastic
gradient descent (SGD), achieve higher success rates than SQP on tough
initializations. Inspired by this observation we also propose a new incremental
variant of SQP which updates only a random subset of the costs and constraints
at each iteration. The algorithm is the best performing in both success rate
and convergence speed, improving over SQP by up to 30% in both criteria. The
benchmark's resources and a solution evaluation script are made openly
available.

8
The categories of this paper are: hep-ex
13
The categories of this paper are: quant-ph
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
18
The categories of this paper are: econ
14
The categories of this paper are: math-ph
28
The categories of this paper are: alg-geom
27
The categories of this paper are: comp-gas
9
The categories of this paper are: nlin
11
The categories of this paper are: hep-lat
3
The categories of this paper are: physics
34
The categories of this paper are: chem-ph
26
The categories of this paper are: bayes-an
19
The categories of this paper are: eess
32
The categories of this paper are: atom-ph
7
The categories of this paper are: hep-th