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Minor changes throughout the book while preparing for my grad course #249

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Hi Hal,
Thanks for this amazing book! I have decided to use it this fall for my graduate ML course. While reading through the text, I fixed a lot of small issues (typos, whitespace, fixing placement with some figures, removing unnecessary auto-generated files, minor issues with notation, cleaning up some missing references, etc.)

The aim of this pull request is to be an "easy" merge. The edits are all relatively benign and I plan to submit either separate PRs for the more intense stuff or issues for things that would require discussion.

My class will be using nb to review and comment on the book, so there will likely be more feedback over the term.

Have a great semester.
Graham

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