# Optimization

## Model Fitting

BoTorch provides the convenience method
`fit_gpytorch_model()`

for
fitting GPyTorch models (optimizing model hyperparameters) using L-BFGS-B via
`scipy.optimize.minimize()`

. We recommend using this method for exact GPs, but
other optimizers may be necessary for models with thousands of parameters or
observations.

## Optimizing Acquisition Functions

#### Using scipy Optimizers on Tensors

The default method used by BoTorch to optimize acquisition functions is
`gen_candidates_scipy()`

.
Given a set of starting points (for multiple restarts) and an acquisition
function, this optimizer makes use of `scipy.optimize.minimize()`

for
optimization, via either the L-BFGS-B or SLSQP routines.
`gen_candidates_scipy()`

automatically handles conversion between `torch`

and
`numpy`

types, and utilizes PyTorch's autograd capabilities to compute the
gradient of the acquisition function.

#### Using torch Optimizers

A `torch`

optimizer such as `torch.optim.Adam`

or `torch.optim.SGD`

can also be
used directly, without the need to perform `numpy`

conversion. These first-order
gradient-based optimizers are particularly useful for the case when the
acquisition function is stochastic, where algorithms like L-BFGS or SLSQP that
are designed for deterministic functions should not be applied. The function
`gen_candidates_torch()`

provides an interface for `torch`

optimizers and handles bounding.
See the example notebooks
here and
here for tutorials on how to use different
optimizers.

### Multiple Random Restarts

Acquisition functions are often difficult to optimize as they are generally
non-convex and often flat (e.g., EI), so BoTorch makes use of multiple random
restarts to improve optimization quality. Each restart can be thought of as an
optimization routine within a local region; thus, taking the best result over
many restarts can help provide an approximation to the global optimization
objective. The function
`gen_batch_initial_conditions()`

implements heuristics for choosing a set of initial restart locations (candidates).

Rather than optimize sequentially from each initial restart
candidate, `gen_candidates_scipy()`

takes advantage of batch mode
evaluation (t-batches) of the acquisition function to solve a single
$b \times q \times d$-dimensional optimization problem, where the objective is
defined as the sum of the $b$ individual q-batch acquisition values.
The wrapper function
`joint_optimize()`

uses
`get_best_candidates()`

to process the output of `gen_candidates_scipy()`

and return the best point
found over the random restarts. For reasonable values of $b$ and $q$, jointly
optimizing over random restarts can significantly reduce wall time by exploiting
parallelism, while maintaining high quality solutions.

### Joint vs. Sequential Candidate Generation for Batch Acquisition Functions

In batch Bayesian Optimization $q$ design points are selected for parallel
experimentation. The parallel (qEI, qNEI, qUCB, qPI) variants of acquisition
functions call for *joint* optimization over the $q$ design points (i.e., solve
an optimization problem with a $q \times d$-dimensional decision), but when $q$
is large, one might also consider *sequentially* selecting the $q$ points using
successive conditioning on so-called "fantasies", and solving $q$ optimization
problems, each with a $d$-dimensional decision. The functions
`joint_optimize()`

and
`sequential_optimize()`

provide for these two types of functionality, respectively.

Our empirical observations of the *closed-loop Bayesian Optimization performance*
for $q = 5$ show that joint optimization and sequential optimization have similar
optimization performance on some standard benchmarks, but sequential optimization
comes at a steep cost in wall time (2-6x in our tests). Therefore, for moderately
sized $q$, a reasonable default option is to use joint optimization.

However, it is important to note that as $q$ increases, the performance of joint
optimization can be hindered by the harder $q \times d$-dimensional problem, and
sequential optimization might be preferred. See ^{[1]} for further
discussion on how sequential greedy maximization is an effective strategy for
common classes of acquisition functions.

J. Wilson, F. Hutter, M. Deisenroth. Maximizing Acquisition Functions for Bayesian Optimization. NeurIPS, 2018. ↩