We introduce a class of stochastic algorithms for minimizing weakly convex functions over proximally smooth sets. As their main building blocks, the algorithms use simplified models of the objective function and the constraint set, along with a retraction operation to restore feasibility. All the proposed methods come equipped with a finite time efficiency guarantee in terms of a natural stationarity measure. We discuss consequences for nonsmooth optimization over smooth manifolds and over sets cut out by weakly-convex inequalities.
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