A practical challenge for structural estimation is the requirement to accurately minimize a sample objective function which is often non-smooth, non-convex, or both. This paper proposes a simple algorithm designed to find accurate solutions without performing an exhaustive search. It augments each iteration from a new Gauss-Newton algorithm with a grid search step. A finite sample analysis derives its optimization and statistical properties simultaneously using only econometric assumptions. After a finite number of iterations, the algorithm automatically transitions from global to fast local convergence, producing accurate estimates with high probability. Simulated examples and an empirical application illustrate the results.