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motoole2

On the third line, we incorrectly state that

$\Delta p = \sum H^{-1} \left(\nabla T \frac{\partial W}{\partial p}\right)^T (T(x) - I(W(x; p)))$

It should be

$\Delta p = H^{-1} \sum \left(\nabla T \frac{\partial W}{\partial p} \right)^T (T(W(x;0)) - I(W(x; p)))$

jlimpray

Why is $H^{-1}$ inside the summation for expression of $\Delta p$?

motoole2

It could be either inside or outside of the summation (numerically identical), but I agree it would be clearer if it were on the outside.