Algorithm 5.1 accesses undefined variable

[angsch]

Location
Please provide:

1. Version: Online draft version July 8, 2022
2. Page number: 117
3. Line/equation number: Line 2 in Algorithm 5.1

Describe the mistake
Convergence criterion $||\boldsymbol{\theta}^{(t)} - \boldsymbol{\theta}^{(t-1)} ||$ uses undefined $\boldsymbol{\theta}^{(-1)}$ for $t = 0$

Suggested change
Change into do-while loop:

do {
  update  \boldsymbol{\theta}^{(t+1)} \gets ....
  update t \gets t+1
} while( $||\boldsymbol{\theta}^{(t)} - \boldsymbol{\theta}^{(t-1)} ||$ not small enough)

Alternatively, restrict the convergence check to $t \geq1$.

Additional comments
Algorithm 5.2 Trust region Newton's method has the same issue.