\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} % TODO: Do we really need these? If so, use from NumCS (much simpler notation)
% TODO: Error propagation laws

\bi{Levenberg-Marquardt}

\bi{Local Param.}
