Deep Learning, Ian Goodfellow, Yoshua Bengio, and Aaron Courville, 2016 (MIT Press) - This foundational book provides a detailed explanation of cost functions and their minimization as central to machine learning model training.
Machine Learning (CS229) Lecture Notes, Andrew Ng, Tengyu Ma, 2023 (Stanford University) - These widely-used lecture notes clearly introduce cost functions and the objective of their minimization in the context of machine learning, including practical examples.