Robotics

Convergence Behavior at a Saddle Point of the Cost Surface

mediummcq

Practice question

You are minimizing a smooth scalar cost f(x)f(x) over x∈Rnx \in \mathbb{R}^n (for example, an energy/objective in motion planning or learned-controller training). At a point x⋆x^\star you find that the gradient ∇f(x⋆)=0\nabla f(x^\star) = 0 and the Hessian ∇2f(x⋆)\nabla^2 f(x^\star) has both strictly positive and strictly negative eigenvalues.

Which statement is correct about x⋆x^\star and the behavior of optimization algorithms there?