JuliaManifolds · kellertuer · Jun 24, 2026 · Feb 11, 2026 · Feb 12, 2026 · Feb 12, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -14,7 +14,7 @@ jobs:
         julia-version: ["lts", "1"]
         os: [ubuntu-latest, macOS-latest, windows-latest]
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - uses: julia-actions/setup-julia@v3
         with:
           version: ${{ matrix.julia-version }}

diff --git a/.github/workflows/clear_preview.yml b/.github/workflows/clear_preview.yml
@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout gh-pages branch
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           ref: gh-pages
       - name: Delete preview and history + push changes

diff --git a/.github/workflows/documenter.yml b/.github/workflows/documenter.yml
@@ -10,7 +10,7 @@ jobs:
     name: Documentation
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - uses: quarto-dev/quarto-actions/setup@v2
         with:
           version: "1.7.29"

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -18,7 +18,7 @@ jobs:
       issues: write
       pull-requests: write
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       # - uses: julia-actions/setup-julia@v2
       #   with:
       #     version: '1'

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -11,7 +11,7 @@ jobs:
         julia-version: ["pre"]
         os: [ubuntu-latest, macOS-latest, windows-latest]
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - uses: julia-actions/setup-julia@v3
         with:
           version: ${{ matrix.julia-version }}

diff --git a/.github/workflows/spell_check.yml b/.github/workflows/spell_check.yml
@@ -8,6 +8,6 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Actions Repository
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
       - name: Check spelling
         uses: crate-ci/typos@v1.47.0
diff --git a/Changelog.md b/Changelog.md
@@ -9,17 +9,26 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [0.6.0] unreleased
 
 This is a breaking change since the JuMP extension is dropped.
+We also unified a few of the internal solver state constructors.
 
 ### Added
 
-* `nonpositive_curvature_behavior` for `QuasiNewtonLimitedMemoryDirectionUpdate` that determines how transported (y, s) vector pairs are treated after transport; if their inner product gets too low, it may lead to non-positive-definite Hessians which needs to be avoided. This resolves issue #549. (#554)
+* A robustified version of the [Riemannian Levenberg Marquardt algorithm](https://manoptjl.org/stable/solvers/LevenbergMarquardt/) (#617)
+* An option to disable the warm start the conjugate residual currently does when used as a subsolver.
+* `nonpositive_curvature_behavior` for `QuasiNewtonLimitedMemoryDirectionUpdate` that determines how transported (y, s) vector pairs are treated after transport; if their inner product gets too low, it may lead to non-positive-definite Hessians which needs to be avoided. This resolves issue (#549). (#554)
 * `GeneralizedCauchyDirectionSubsolver` for handling direction selection in the presence of box (`Hyperrectangle`) constraints in quasi-Newton methods. This allows for L-BFGS-B-style box constraint handling. (#554)
 * New stopping criteria: `StopWhenRelativeAPosterioriCostChangeLessOrEqual` and `StopWhenProjectedNegativeGradientNormLess`. (#554).
 * `HagerZhangLinesearch` stepsize, a state-of-the-art line search for smooth objectives with cubic interpolation and adaptive Wolfe condition checking. (#554)
 * Stopping criteria can now be initialized using `initialize_stepsize!`, similar to solvers. (#554)
+* The `ConjugateResidualState` now has a `warm_start=` option when used multiple times, for example in every iteration as a subsolver, to reuse the last state from the previous run.
 
 ### Changed
 
+* In the [Riemannian Levenberg Marquardt algorithm](https://manoptjl.org/stable/solvers/LevenbergMarquardt/)t the `η` parameter has been renamed to `candidate_acceptance_threshold`, `β` to `damping_increase_factor` and `β_reduction` to `damping_reduction_factor`. (#617)
+* the constructor for the [Levenberg-Marquardt state](https://manoptjl.org/stable/solvers/LevenbergMarquardt/#Manopt.LevenbergMarquardtState) has been unified with the remaining states, to take the `sub_problem` and `sub_state` arguments as second and third positional arguments, respectively. (#617)
+* the keyword `initial_jacobian_f` within `LevenbergMarquardt` is unified in naming to the residual values vector and called `initial_jacobian_matrices`. If you call `LevenbergMarquardt` with a single vector component, also a single matrix is allowed. (#617)
+* an internal field of the solver state of Levenberg-Marqwuardt was called `jacobian_f` the same as the functions whose result it meant to cache if applicable. To distinguish both, the field is now called `jacobian_matrices`. (#617)
+* the `max_stepsize(M)` on the [`SymmetricPositiveDefinite`](https://juliamanifolds.github.io/Manifolds.jl/stable/manifolds/symmetricpositivedefinite/) manifold was changed from returning `Inf`, which is the mathematical maximal stepsize to returning the square root of the maximum (floating point) value to avoid numerical instabilities.
 * title of "How to define the cost in the embedding" tutorial (#615)
 
 ### Fixed
@@ -36,8 +45,9 @@ This is a breaking change since the JuMP extension is dropped.
 ### Removed
 
 * The extension to JuMP. A replacement as a separate package is planned when the support for variables beyond vectors is more accessible in JuMP
-* the plotting functions to `Asymptote`. They can now be found in the separate package [`ManifoldAsymptote.jl`]()
+* the plotting functions to `Asymptote`. They can now be found in the separate package [`ManifoldAsymptote.jl`](https://github.com/JuliaManifolds/ManifoldAsymptote.jl)
   this way, `Manopt.jl` has less dependencies, especially the color and colorschemes dependencies are dropped
+* `linear_subsolver! = ` was removed from the [`LevenbergMarquardt`](https://manoptjl.org/stable/solvers/LevenbergMarquardt/) solver interface, since it is imprecise. If you use a closed form solver before, specify it by passing the function to `sub_problem` and set `sub_state` to the corresponding evaluation type
 
 ## [0.5.39] June 3, 2026
 
@@ -92,11 +102,15 @@ This is a breaking change since the JuMP extension is dropped.
 ### Changed
 
 * `NonlinearLeastSquaresObjective` is now called `ManifoldNonlinearLeastSquaresObjective` (#569).
-* This is a breaking release in order to move a few parts to a unified naming and since we
-discontinue the `JuMP` extension. (#532)
+* (breaking) discontinue the `JuMP` extension. (#532)
 * Improved formatting of the references in the Readme.md (#586)
 * Bump compat for RecursiveArrayTools.jl to include version 4
 * deactivate CompatHelper Action and solely use dependabot
+* (breaking change) renamed `CoordinateVectorialType` to `CoefficientVectorialType` to have a
+  consistent naming that anything with respect to a basis is called “coefficients”
+* moved the old closed-form-in-coordinates subsolver for `LevenbergMarquardt` handling to the subsolver; if you implemented your own, pass it to `sub_problem`,
+set the `sub_state` to indicate allocating or in-place evaluation and change the signature as documented; make especially sure to return a tangent vector now and not coordinates.
+* (breaking change) `expect_zero_residual` in `LevenbergMarquardt` is replaced by more general `damping_reduction_threshold` and `β_reduction`. To recover the behavior of `expect_zero_residual=true`, set `damping_reduction_threshold` to the same value as `η` and `β_reduction` to `β`.
 
 ### Fixed
 
@@ -258,7 +272,7 @@ so a constant initial guess is recommended here. The initial guess may be refact
 * a `gradient=` keyword in several `Stepsize`s, such that one can avoid to internally avoid computing the gradient again.
 * used the ``gradient=` keyword in
   * `alternating_gradient_descent`
-  * `conjugate_gradient`
+  * `conjugate_gradient_descent`
   * `Frank_Wolfe_method`
   * `gradient_descent`
   * `interior_point_newton`

diff --git a/Project.toml b/Project.toml
@@ -24,7 +24,6 @@ JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
 LRUCache = "8ac3fa9e-de4c-5943-b1dc-09c6b5f20637"
 LineSearches = "d3d80556-e9d4-5f37-9878-2ab0fcc64255"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 QuadraticModels = "f468eda6-eac5-11e8-05a5-ff9e497bcd19"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 RipQP = "1e40b3f8-35eb-4cd8-8edd-3e515bb9de08"
@@ -48,7 +47,6 @@ ManifoldDiff = "0.3.8, 0.4"
 Manifolds = "0.11.2"
 ManifoldsBase = "2.3.1"
 Markdown = "1.10"
-Plots = "1.30"
 Preferences = "1.4"
 Printf = "1.10"
 QuadraticModels = "0.9"

diff --git a/_typos.toml b/_typos.toml
@@ -3,7 +3,9 @@ methodes = "methodes" # french
 Serie = "Serie" # french
 sur = "sur" # french
 cmo = "cmo" # often used abbreviation for constrained manifold objective
+BA = "BA" # Maybe rename that shortened version in the tests
 nd = "nd" # like in 2nd
+
 [files]
 extend-exclude = [
 "tutorials/*.html",

diff --git a/docs/make.jl b/docs/make.jl
@@ -210,7 +210,18 @@ makedocs(;
         "Plans" => [
             "Specify a Solver" => "plans/index.md",
             "Problem" => "plans/problem.md",
-            "Objective" => "plans/objective.md",
+            "Objective" => [
+                "Introduction" => "plans/objective.md",
+                "Cost objectvies" => "plans/objectives/cost.md",
+                "First-order objectives" => "plans/objectives/first_order.md",
+                "Second-order objectives" => "plans/objectives/second_order.md",
+                "Constrained objectives" => "plans/objectives/constrained.md",
+                "Splitting-based objectives" => "plans/objectives/splitting_based.md",
+                "Subproblem objectives" => "plans/objectives/sub.md",
+                "Vectorial objectives" => "plans/objectives/vectorial.md",
+                "Linear Systems" => "plans/objectives/linear_system.md",
+                "Decorators for objectives" => "plans/objectives/decorated.md",
+            ],
             "Solver State" => "plans/state.md",
             "Stepsize" => "plans/stepsize.md",
             "Stopping Criteria" => "plans/stopping_criteria.md",

diff --git a/docs/src/notation.md b/docs/src/notation.md
@@ -5,6 +5,10 @@ with the following additional parts.
 
 | Symbol | Description | Also used | Comment |
 |:--:|:--------------- |:--:|:-- |
-| ``\operatorname{arg\,min}`` | argument of a function ``f`` where a local or global minimum is attained | |
-| ``k`` | the current iterate | ``ì`` | the goal is to unify this to `k` |
+| ``\mathbf{a}`` | vectors in Euclidean space | ``\mathbf{b}, \mathbf{c}`` | |
+| ``\mathbf{A}`` | a matrix | ``\mathbf{B}, \mathbf{C}`` | |
+| ``\mathcal{A}, \mathcal{L}`` | linear operators, usually on tangent spaces | | |
+| ``\mathcal{C}`` | a (geodesically) convex set | | |
+| ``\operatorname*{arg\,min}_v f(v)`` | argument/variable ``v`` of a function ``f`` where a local or global minimum is attained | |
+| ``k`` | the current iterate | ``i`` | the goal is to unify this to `k` |
 | ``∇`` | The [Levi-Cevita connection](https://en.wikipedia.org/wiki/Levi-Civita_connection) | | |