diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 1584a3a35..80d030413 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -4,10 +4,17 @@ set (excluded_examples
 
 # if GTSAM_ENABLE_BOOST_SERIALIZATION is not set then SolverComparer.cpp will not compile
 if (NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
-  set (excluded_examples
-    ${excluded_examples}
+    list (APPEND excluded_examples
     SolverComparer.cpp
   )
 endif()
 
+# Add examples to exclude if GTSAM_USE_BOOST is not set
+if (NOT GTSAM_USE_BOOST) 
+  # add to excluded examples
+  list (APPEND excluded_examples
+      # Boost examples
+      SolverComparer.cpp
+      )
+endif()
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")
diff --git a/gtsam/base/utilities.h b/gtsam/base/utilities.h
index 0a05a704c..03e9636da 100644
--- a/gtsam/base/utilities.h
+++ b/gtsam/base/utilities.h
@@ -28,16 +28,9 @@ private:
 
 }
 
-// boost::index_sequence was introduced in 1.66, so we'll manually define an
-// implementation if user has 1.65.  boost::index_sequence is used to get array
-// indices that align with a parameter pack.
-#include <boost/version.hpp>
-#if BOOST_VERSION >= 106600
-#include <boost/mp11/integer_sequence.hpp>
-#else
-namespace boost {
-namespace mp11 {
+namespace gtsam {
 // Adapted from https://stackoverflow.com/a/32223343/9151520
+// An adaptation of boost::mp11::index_sequence
 template <size_t... Ints>
 struct index_sequence {
   using type = index_sequence;
@@ -49,20 +42,16 @@ template <class Sequence1, class Sequence2>
 struct _merge_and_renumber;
 
 template <size_t... I1, size_t... I2>
-struct _merge_and_renumber<index_sequence<I1...>, index_sequence<I2...> >
+struct _merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
     : index_sequence<I1..., (sizeof...(I1) + I2)...> {};
 }  // namespace detail
 template <size_t N>
-struct make_index_sequence
-    : detail::_merge_and_renumber<
-          typename make_index_sequence<N / 2>::type,
-          typename make_index_sequence<N - N / 2>::type> {};
+struct make_index_sequence : detail::_merge_and_renumber<typename make_index_sequence<N / 2>::type,
+                                                         typename make_index_sequence<N - N / 2>::type> {};
 template <>
 struct make_index_sequence<0> : index_sequence<> {};
 template <>
 struct make_index_sequence<1> : index_sequence<0> {};
 template <class... T>
 using index_sequence_for = make_index_sequence<sizeof...(T)>;
-}  // namespace mp11
-}  // namespace boost
-#endif
+}  // namespace gtsam
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index d22409875..e8ae9fd47 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -26,7 +26,7 @@
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/inference/Factor.h>
 #include <gtsam/base/OptionalJacobian.h>
-#include <gtsam/base/utilities.h>  // boost::index_sequence
+#include <gtsam/base/utilities.h>
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/base_object.hpp>
@@ -609,7 +609,7 @@ protected:
   Vector unwhitenedError(
       const Values& x,
       OptionalMatrixVecType H = nullptr) const override {
-    return unwhitenedError(boost::mp11::index_sequence_for<ValueTypes...>{}, x,
+    return unwhitenedError(gtsam::index_sequence_for<ValueTypes...>{}, x,
                            H);
   }
 
@@ -702,7 +702,7 @@ protected:
    */
   template <std::size_t... Indices>
   inline Vector unwhitenedError(
-      boost::mp11::index_sequence<Indices...>,  //
+      gtsam::index_sequence<Indices...>,  //
       const Values& x,
       OptionalMatrixVecType H = nullptr) const {
     if (this->active(x)) {
diff --git a/gtsam_unstable/discrete/examples/CMakeLists.txt b/gtsam_unstable/discrete/examples/CMakeLists.txt
index da06b7dfc..ba4e278c9 100644
--- a/gtsam_unstable/discrete/examples/CMakeLists.txt
+++ b/gtsam_unstable/discrete/examples/CMakeLists.txt
@@ -1,5 +1,15 @@
-set (excluded_examples
-    # fileToExclude.cpp
-)
+# disable tests if GTSAM_USE_BOOST_FEATURES is OFF
+if (NOT GTSAM_USE_BOOST_FEATURES)
+  set (excluded_examples
+      # fileToExclude.cpp
+      "schedulingExample.cpp"
+      "schedulingQuals12.cpp"
+      "schedulingQuals13.cpp"
+      )
+else()
+  set (excluded_examples "")
+endif()
+
+
 
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt
index b2e1ad6dd..483b0fa6c 100644
--- a/gtsam_unstable/examples/CMakeLists.txt
+++ b/gtsam_unstable/examples/CMakeLists.txt
@@ -1,13 +1,3 @@
-# disable tests if GTSAM_USE_BOOST_FEATURES is OFF
-if (NOT GTSAM_USE_BOOST_FEATURES)
-  set (excluded_examples
-      # fileToExclude.cpp
-      "schedulingExample.cpp"
-      "schedulingQuals12.cpp"
-      "schedulingQuals13.cpp"
-      )
-else()
-  set (excluded_examples "")
-endif()
+set (excluded_examples "")
 
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")