diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 2128b6bb7..fe2c3f3ca 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -289,13 +289,13 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  // insert a plain value using the default chart
+  // insert a templated value
   template<typename ValueType>
    void Values::insert(Key j, const ValueType& val) {
      insert(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
    }
 
-  // update with default chart
+  // update with templated value
   template <typename ValueType>
   void Values::update(Key j, const ValueType& val) {
     update(j, static_cast<const Value&>(GenericValue<ValueType >(val)));
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 539302779..73d0711be 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -260,7 +260,6 @@ namespace gtsam {
 
     /** Templated version to add a variable with the given j,
      * throws KeyAlreadyExists<J> if j is already present
-     * if no chart is specified, the DefaultChart<ValueType> is used
      */
     template <typename ValueType>
     void insert(Key j, const ValueType& val);
@@ -272,15 +271,6 @@ namespace gtsam {
     /// version for double
     void insertDouble(Key j, double c) { insert<double>(j,c); }
 
-    /// overloaded insert version that also specifies a chart
-    template <typename ValueType, typename Chart>
-    void insert(Key j, const ValueType& val);
-
-    /// overloaded insert version that also specifies a chart initializer
-    template <typename ValueType, typename Chart>
-    void insert(Key j, const ValueType& val, Chart chart);
-
-
     /** insert that mimics the STL map insert - if the value already exists, the map is not modified
      *  and an iterator to the existing value is returned, along with 'false'.  If the value did not
      *  exist, it is inserted and an iterator pointing to the new element, along with 'true', is
@@ -297,14 +287,6 @@ namespace gtsam {
     template <typename T>
     void update(Key j, const T& val);
 
-    /// overloaded insert version that also specifies a chart
-    template <typename T, typename Chart>
-    void update(Key j, const T& val);
-
-    /// overloaded insert version that also specifies a chart initializer
-    template <typename T, typename Chart>
-    void update(Key j, const T& val, Chart chart);
-
     /** update the current available values without adding new ones */
     void update(const Values& values);