minus mu so whenever you see something like this often it's a little hard to make sense of it directly if you haven't seen it before your simplest thing to you say okay yeah there is matrices and vectors but whatever is just scalar if it's just scale it looks like a single univariate gaussians again you just have X minus mu squared if it's not a scalar what do we have well Sigma is a symmetric matrix so the inverse of Sigma is also symmetric matrix so the symmetric matrix symmetric matrices are as we know from we've covered lqr just