diff --git a/electives/others/amr/parts/03_multi-sensor-estimation/02_nonlinear-least-squares.tex b/electives/others/amr/parts/03_multi-sensor-estimation/02_nonlinear-least-squares.tex
index 9ea0740..87a3f5f 100644
--- a/electives/others/amr/parts/03_multi-sensor-estimation/02_nonlinear-least-squares.tex
+++ b/electives/others/amr/parts/03_multi-sensor-estimation/02_nonlinear-least-squares.tex
@@ -1,6 +1,8 @@
 \subsection{Non-Linear Least Squares}
 Find $\vec{x}^* = \text{argmax} p(\vec{x} | \vec{z}) = \argmin{}(-\log(p(\vec{x}|\vec{z})))$
 
-\bi{Gauss-Newton}
+\bi{Gauss-Newton} % TODO: Do we really need these? If so, use from NumCS (much simpler notation)
 
 \bi{Levenberg-Marquardt}
+
+\bi{Local Param.}