diff --git a/GTSAM-Concepts.md b/GTSAM-Concepts.md
index fb7ecc624..3ce723e8e 100644
--- a/GTSAM-Concepts.md
+++ b/GTSAM-Concepts.md
@@ -29,32 +29,29 @@ In detail, we ask the following are defined in the traits object:
     * `ManifoldType`, a pointer back to the type.
     * `structure_category`, a tag type that defines what requirements the type fulfills, and therefore what requirements this traits class must fulfill. It should be defined to be one of the following: 
         * `gtsam::traits::manifold_tag` -- Everything in this list is expected
-        * `gtsam::traits::group_tag` -- Everything in this list is expected, plus the functions defined under **Groups** below.
+        * `gtsam::traits::group_tag` -- The functions defined under **Groups** below.
         * `gtsam::traits::lie_group_tag` -- Everything in this list is expected, plus the functions defined under **Groups**, and **Lie Groups** below.
         * `gtsam::traits::vector_space_tag` -- Everything in this list is expected, plus the functions defined under **Groups**, and **Lie Groups** below.
 * valid expressions:
     * `size_t dim = traits<T>::getDimension(p);` static function should be defined. This is mostly useful if the size is not known at compile time.
-    * `v = traits<T>::Local(p,q)`, the chart, from manifold to tangent space, think of it as *q (-) p*, where *p* and *q* are elements of the manifold and the result, *v* is an element of the vector space.
-        * `v = traits<T>::Local(p,q, Hp, Hq)`.
-    * `p = traits<T>::Retract(p,v)`, the inverse chart, from tangent space to manifold, think of it as *p (+) v*, where *p* is an element of the manifold and the result, *v* is an element of the vector space.
-    * `p = traits<T>::Retract(p,v, Hp, Hv)`.
-
-In the functions above, the `H` arguments stand for optional Jacobians. When provided, it is assumed
-that the function will return the derivatives of the chart (and inverse) with respect to its arguments.
+    * `v = traits<T>::Local(p,q,Hp,Hq)`, the chart, from manifold to tangent space, think of it as *q (-) p*, where *p* and *q* are elements of the manifold and the result, *v* is an element of the vector space.
+    * `p = traits<T>::Retract(p,v,Hp,Hv)`, the inverse chart, from tangent space to manifold, think of it as *p (+) v*, where *p* is an element of the manifold and the result, *v* is an element of the vector space.
 * invariants
     * `Retract(p, Local(p,q)) == q`
     * `Local(p, Retract(p, v)) == v`
 
+In the functions above, the `H` arguments stand for optional Jacobians. When provided, it is assumed that the function will return the derivatives of the chart (and inverse) with respect to its arguments.
+
 For many differential manifolds, an obvious mapping is the `exponential map`, 
 which  associates straight lines in the tangent space with geodesics on the manifold 
 (and it's inverse, the log map). However, there are two cases in which we deviate from this:
 
 * Sometimes, most notably for *SO(3)* and *SE(3)*, the exponential map is unnecessarily expensive for use in optimization. Hence, the `Local` and `Retract` refer to a chart that is much cheaper to evaluate.
-* While vector spaces (see below) are in principle also manifolds, it is overkill to think about charts etc. Really, we should simply think about vector addition and subtraction. Hence, while a these functions are defined for every vector space, GTSAM will never invoke them. (IS THIS TRUE?)
+* While vector spaces (see below) are in principle also manifolds, it is overkill to think about charts etc. Really, we should simply think about vector addition and subtraction. Hence, while a these functions are defined for every vector space, GTSAM might never invoke them.
 
 Group
 -----
-A [group](http://en.wikipedia.org/wiki/Group_(mathematics)) should be well known from grade school :-), and provides a type with a composition operation that is closed, associative, has an identity element, and an inverse for each element. The following should be added to the traits class for a group:
+A [group]("http://en.wikipedia.org/wiki/Group_(mathematics)"") should be well known from grade school :-), and provides a type with a composition operation that is closed, associative, has an identity element, and an inverse for each element. The following should be added to the traits class for a group:
 
 * valid expressions:
     * `r = traits<M>::Compose(p,q)`, where *p*, *q*, and *r* are elements of the manifold.