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\subsection{Non-Linear Least Squares}
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Find $\vec{x}^* = \text{argmax} p(\vec{x} | \vec{z}) = \argmin{}(-\log(p(\vec{x}|\vec{z})))$
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\bi{Gauss-Newton}
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\bi{Gauss-Newton} % TODO: Do we really need these? If so, use from NumCS (much simpler notation)
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\bi{Levenberg-Marquardt}
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\bi{Local Param.}
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