That's generally helpful and usually enough, but it's not universally helpful, depending on the shape of the problem and your step size - see Figure 5 below. (

That's generally helpful and usually enough, but it's not universally helpful, depending on the shape of the problem and your step size - see Figure 5 below. (http://graemebell.net/pubs/taros05-bl-embedded-preprint.pdf http://graemebell.net/pubs/taros05-bl-embedded-preprint.pdf) It also depends what the impact of 'perturbations' is in the real world. Random juddering motions can be bad for physical platforms like robots, spacecraft. [I once saw a conference presentation where people were encountering saddle point problems when automatically aligning groups tiny space craft in space] In computer games, random perturbations can make movement look strange, unrealistic or creepy.