Cartesian AccelerationΒΆ

\[w_{task} . \lVert \mathbf{E}x + \mathbf{f} \rVert_{W_{norm}}\]
\[\underset{n\times 1}{\mathrm{Y}} = \underset{n\times p}{X} \times \underset{p\times 1}{\theta} + \underset{n\times 1}{\varepsilon}\]