diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index e7ee7b905..e89b421ee 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -23,9 +23,6 @@
 #include <Eigen/SVD>
 #include <Eigen/LU>
 
-#include <boost/tokenizer.hpp>
-#include <boost/format.hpp>
-
 #include <cstdarg>
 #include <cstring>
 #include <iomanip>
@@ -128,8 +125,10 @@ bool linear_dependent(const Matrix& A, const Matrix& B, double tol) {
 
 /* ************************************************************************* */
 Vector operator^(const Matrix& A, const Vector & v) {
-  if (A.rows()!=v.size()) throw std::invalid_argument(
-      boost::str(boost::format("Matrix operator^ : A.m(%d)!=v.size(%d)") % A.rows() % v.size()));
+  if (A.rows()!=v.size()) {
+    throw std::invalid_argument("Matrix operator^ : A.m(" + std::to_string(A.rows()) + ")!=v.size(" +
+                                std::to_string(v.size()) + ")");
+  }
 //  Vector vt = v.transpose();
 //  Vector vtA = vt * A;
 //  return vtA.transpose();
@@ -612,11 +611,12 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
     else
       matrixPrinted << matrix;
     const std::string matrixStr = matrixPrinted.str();
-    boost::tokenizer<boost::char_separator<char> > tok(matrixStr, boost::char_separator<char>("\n"));
 
+    // Split the matrix string into lines and indent them
+    std::string line;
+    std::istringstream iss(matrixStr);
     DenseIndex row = 0;
-    for(const std::string& line: tok)
-    {
+    while (std::getline(iss, line)) {
       assert(row < effectiveRows);
       if(row > 0)
         ss << padding;
@@ -625,6 +625,7 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
         ss << "\n";
       ++ row;
     }
+
   } else {
     ss << "Empty (" << matrix.rows() << "x" << matrix.cols() << ")";
   }
diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h
index 57e37237f..79dbe6bb1 100644
--- a/gtsam/base/ThreadsafeException.h
+++ b/gtsam/base/ThreadsafeException.h
@@ -46,9 +46,11 @@ private:
 protected:
   typedef std::basic_string<char, std::char_traits<char>,
       tbb::tbb_allocator<char> > String;
+  typedef tbb::tbb_allocator<char> Allocator;
 #else
 protected:
   typedef std::string String;
+  typedef std::allocator<char> Allocator;
 #endif
 
 protected:
diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp
index 17cb291f0..71cef2524 100644
--- a/gtsam/base/cholesky.cpp
+++ b/gtsam/base/cholesky.cpp
@@ -20,7 +20,6 @@
 #include <gtsam/base/cholesky.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/format.hpp>
 #include <cmath>
 
 using namespace std;
diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
index 3291415b8..b399767d5 100644
--- a/gtsam/base/timing.cpp
+++ b/gtsam/base/timing.cpp
@@ -19,9 +19,6 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/algorithm/string/replace.hpp>
-#include <boost/format.hpp>
-
 #include <cmath>
 #include <cstddef>
 #include <cassert>
@@ -78,7 +75,7 @@ size_t TimingOutline::time() const {
 /* ************************************************************************* */
 void TimingOutline::print(const std::string& outline) const {
   std::string formattedLabel = label_;
-  boost::replace_all(formattedLabel, "_", " ");
+  std::replace(formattedLabel.begin(), formattedLabel.end(), '_', ' ');
   std::cout << outline << "-" << formattedLabel << ": " << self() << " CPU ("
       << n_ << " times, " << wall() << " wall, " << secs() << " children, min: "
       << min() << " max: " << max() << ")\n";
@@ -248,16 +245,14 @@ void toc(size_t id, const char *label) {
   if (id != current->id_) {
     gTimingRoot->print();
     throw std::invalid_argument(
-        (boost::format(
-            "gtsam timing:  Mismatched tic/toc: gttoc(\"%s\") called when last tic was \"%s\".")
-            % label % current->label_).str());
+        "gtsam timing:  Mismatched tic/toc: gttoc(\"" + std::string(label) +
+        "\") called when last tic was \"" + current->label_ + "\".");
   }
   if (!current->parent_.lock()) {
     gTimingRoot->print();
     throw std::invalid_argument(
-        (boost::format(
-            "gtsam timing:  Mismatched tic/toc: extra gttoc(\"%s\"), already at the root")
-            % label).str());
+        "gtsam timing:  Mismatched tic/toc: extra gttoc(\"" + std::string(label) +
+        "\"), already at the root");
   }
   current->toc();
   gCurrentTimer = current->parent_;
diff --git a/gtsam/discrete/AlgebraicDecisionTree.h b/gtsam/discrete/AlgebraicDecisionTree.h
index b3f0d69b0..425ad15f9 100644
--- a/gtsam/discrete/AlgebraicDecisionTree.h
+++ b/gtsam/discrete/AlgebraicDecisionTree.h
@@ -24,6 +24,7 @@
 #include <algorithm>
 #include <map>
 #include <string>
+#include <iomanip>
 #include <vector>
 namespace gtsam {
 
@@ -162,7 +163,9 @@ namespace gtsam {
                const typename Base::LabelFormatter& labelFormatter =
                    &DefaultFormatter) const {
       auto valueFormatter = [](const double& v) {
-        return (boost::format("%4.8g") % v).str();
+        std::stringstream ss;
+        ss << std::setw(4) << std::setprecision(8) << v;
+        return ss.str();
       };
       Base::print(s, labelFormatter, valueFormatter);
     }
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index f17786056..cfaa806b8 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DecisionTree.h>
 
 #include <algorithm>
-#include <boost/format.hpp>
 
 #include <cmath>
 #include <fstream>
@@ -33,6 +32,7 @@
 #include <string>
 #include <vector>
 #include <optional>
+#include <cassert>
 
 namespace gtsam {
 
@@ -192,8 +192,8 @@ namespace gtsam {
 
     ~Choice() override {
 #ifdef DT_DEBUG_MEMORY
-      std::std::cout << Node::nrNodes << " destructing (Choice) " << this->id()
-                     << std::std::endl;
+      std::cout << Node::nrNodes << " destructing (Choice) " << this->id()
+                     << std::endl;
 #endif
     }
 
@@ -282,9 +282,9 @@ namespace gtsam {
                const ValueFormatter& valueFormatter) const override {
       std::cout << s << " Choice(";
       std::cout << labelFormatter(label_) << ") " << std::endl;
-      for (size_t i = 0; i < branches_.size(); i++)
-        branches_[i]->print((boost::format("%s %d") % s % i).str(),
-                            labelFormatter, valueFormatter);
+      for (size_t i = 0; i < branches_.size(); i++) {
+        branches_[i]->print(s + " " + std::to_string(i), labelFormatter, valueFormatter);
+      }
     }
 
     /** output to graphviz (as a a graph) */
@@ -643,11 +643,8 @@ namespace gtsam {
       // Create a simple choice node with values as leaves.
       if (size != nrChoices) {
         std::cout << "Trying to create DD on " << begin->first << std::endl;
-        std::cout << boost::format(
-                         "DecisionTree::create: expected %d values but got %d "
-                         "instead") %
-                         nrChoices % size
-                  << std::endl;
+        std::cout << "DecisionTree::create: expected " << nrChoices
+                  << " values but got " << size << " instead" << std::endl;
         throw std::invalid_argument("DecisionTree::create invalid argument");
       }
       auto choice = std::make_shared<Choice>(begin->first, endY - beginY);
diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 399216b83..cb6c7761e 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteConditional.h>
 
-#include <boost/format.hpp>
 #include <utility>
 
 using namespace std;
@@ -79,8 +78,9 @@ namespace gtsam {
                                  const KeyFormatter& formatter) const {
     cout << s;
     cout << " f[";
-    for (auto&& key : keys())
-      cout << boost::format(" (%1%,%2%),") % formatter(key) % cardinality(key);
+    for (auto&& key : keys()) {
+      cout << " (" << formatter(key) << "," << cardinality(key) << "),";
+    }
     cout << " ]" << endl;
     ADT::print("", formatter);
   }
@@ -104,13 +104,12 @@ namespace gtsam {
   /* ************************************************************************ */
   DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
       size_t nrFrontals, ADT::Binary op) const {
-    if (nrFrontals > size())
+    if (nrFrontals > size()) {
       throw invalid_argument(
-          (boost::format(
-               "DecisionTreeFactor::combine: invalid number of frontal "
-               "keys %d, nr.keys=%d") %
-           nrFrontals % size())
-              .str());
+          "DecisionTreeFactor::combine: invalid number of frontal "
+          "keys " +
+          std::to_string(nrFrontals) + ", nr.keys=" + std::to_string(size()));
+    }
 
     // sum over nrFrontals keys
     size_t i;
@@ -132,13 +131,13 @@ namespace gtsam {
   /* ************************************************************************ */
   DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
       const Ordering& frontalKeys, ADT::Binary op) const {
-    if (frontalKeys.size() > size())
+    if (frontalKeys.size() > size()) {
       throw invalid_argument(
-          (boost::format(
-               "DecisionTreeFactor::combine: invalid number of frontal "
-               "keys %d, nr.keys=%d") %
-           frontalKeys.size() % size())
-              .str());
+          "DecisionTreeFactor::combine: invalid number of frontal "
+          "keys " +
+          std::to_string(frontalKeys.size()) + ", nr.keys=" +
+          std::to_string(size()));
+    }
 
     // sum over nrFrontals keys
     size_t i;
@@ -193,7 +192,9 @@ namespace gtsam {
 
   /* ************************************************************************ */
   static std::string valueFormatter(const double& v) {
-    return (boost::format("%4.2g") % v).str();
+    std::stringstream ss;
+    ss << std::setw(4) << std::setprecision(2) << std::fixed << v;
+    return ss.str();
   }
 
   /** output to graphviz format, stream version */
diff --git a/gtsam/discrete/DiscreteKey.cpp b/gtsam/discrete/DiscreteKey.cpp
index 06ed2ca3b..79d11d8a7 100644
--- a/gtsam/discrete/DiscreteKey.cpp
+++ b/gtsam/discrete/DiscreteKey.cpp
@@ -17,7 +17,6 @@
  */
 
 #include <iostream>
-#include <boost/format.hpp> // for key names
 #include "DiscreteKey.h"
 
 namespace gtsam {
@@ -26,7 +25,7 @@ namespace gtsam {
 
   DiscreteKeys::DiscreteKeys(const vector<int>& cs) {
     for (size_t i = 0; i < cs.size(); i++) {
-      string name = boost::str(boost::format("v%1%") % i);
+      string name = "v" + std::to_string(i);
       push_back(DiscreteKey(i, cs[i]));
     }
   }
diff --git a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp
index e3f9d9dd2..c7cb7088e 100644
--- a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp
+++ b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp
@@ -25,8 +25,6 @@
 #include <gtsam/discrete/DecisionTree-inl.h>  // for convert only
 #define DISABLE_TIMING
 
-#include <boost/tokenizer.hpp>
-
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/discrete/Signature.h>
@@ -81,9 +79,9 @@ void resetCounts() {
 }
 void printCounts(const string& s) {
 #ifndef DISABLE_TIMING
-  cout << boost::format("%s: %3d muls, %3d adds, %g ms.") % s % muls % adds %
-              (1000 * elapsed)
-       << endl;
+cout << s << ": " << std::setw(3) << muls << " muls, " << 
+  std::setw(3) << adds << " adds, " << 1000 * elapsed << " ms."
+     << endl;
 #endif
   resetCounts();
 }
@@ -133,7 +131,9 @@ ADT create(const Signature& signature) {
   ADT p(signature.discreteKeys(), signature.cpt());
   static size_t count = 0;
   const DiscreteKey& key = signature.key();
-  string DOTfile = (boost::format("CPT-%03d-%d") % ++count % key.first).str();
+  std::stringstream ss;
+  ss << "CPT-" << std::setw(3) << std::setfill('0') << ++count << "-" << key.first;
+  string DOTfile = ss.str();
   dot(p, DOTfile);
   return p;
 }
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index 3bf12cec1..b46680ef6 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -26,6 +26,8 @@
 #include <gtsam/discrete/DecisionTree-inl.h>
 #include <gtsam/discrete/Signature.h>
 
+#include <iomanip>
+
 using std::vector;
 using std::string;
 using std::map;
@@ -50,7 +52,9 @@ struct CrazyDecisionTree : public DecisionTree<string, Crazy> {
   void print(const std::string& s = "") const {
     auto keyFormatter = [](const std::string& s) { return s; };
     auto valueFormatter = [](const Crazy& v) {
-      return (boost::format("{%d,%4.2g}") % v.a % v.b).str();
+      std::stringstream ss;
+      ss << "{" << v.a << "," << std::setw(4) << std::setprecision(2) << v.b << "}";
+      return ss.str();
     };
     DecisionTree<string, Crazy>::print("", keyFormatter, valueFormatter);
   }
@@ -86,7 +90,7 @@ struct DT : public DecisionTree<string, int> {
   void print(const std::string& s = "") const {
     auto keyFormatter = [](const std::string& s) { return s; };
     auto valueFormatter = [](const int& v) {
-      return (boost::format("%d") % v).str();
+      return std::to_string(v);
     };
     std::cout << s;
     Base::print("", keyFormatter, valueFormatter);
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 631f8d22f..d96a890f4 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -20,8 +20,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 
-#include <boost/format.hpp>
-
 namespace gtsam {
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index af0cea746..b8e7ff588 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -22,7 +22,6 @@
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/FactorGraph.h>
 
-#include <boost/format.hpp>
 #include <unordered_map>
 
 namespace gtsam {
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index cbc949404..cc0a304a2 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -27,7 +27,6 @@
 #include <gtsam/nonlinear/Symbol.h>
 
 #include <algorithm>
-#include <boost/format.hpp>
 #include <cmath>
 #include <limits>
 #include <vector>
@@ -194,7 +193,7 @@ class MixtureFactor : public HybridFactor {
     std::cout << "\nMixtureFactor\n";
     auto valueFormatter = [](const sharedFactor& v) {
       if (v) {
-        return (boost::format("Nonlinear factor on %d keys") % v->size()).str();
+        return "Nonlinear factor on " + std::to_string(v->size()) + " keys";
       } else {
         return std::string("nullptr");
       }
diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp
index dd433ff09..8fcea0d05 100644
--- a/gtsam/inference/Key.cpp
+++ b/gtsam/inference/Key.cpp
@@ -20,7 +20,6 @@
 #include <gtsam/inference/Key.h>
 #include <gtsam/inference/LabeledSymbol.h>
 
-#include <boost/lexical_cast.hpp>
 #include <iostream>
 
 using namespace std;
@@ -30,10 +29,12 @@ namespace gtsam {
 /* ************************************************************************* */
 string _defaultKeyFormatter(Key key) {
   const Symbol asSymbol(key);
-  if (asSymbol.chr() > 0)
+  if (asSymbol.chr() > 0) {
     return (string) asSymbol;
-  else
-    return boost::lexical_cast<string>(key);
+  }
+  else {
+    return std::to_string(key);
+  }
 }
 
 /* ************************************************************************* */
@@ -48,10 +49,12 @@ string _multirobotKeyFormatter(Key key) {
     return (string) asLabeledSymbol;
 
   const Symbol asSymbol(key);
-  if (asLabeledSymbol.chr() > 0)
+  if (asLabeledSymbol.chr() > 0) {
     return (string) asSymbol;
-  else
-    return boost::lexical_cast<string>(key);
+  }
+  else {
+    return std::to_string(key);
+  }
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/inference/LabeledSymbol.cpp b/gtsam/inference/LabeledSymbol.cpp
index 6a1739e20..e6e6f3081 100644
--- a/gtsam/inference/LabeledSymbol.cpp
+++ b/gtsam/inference/LabeledSymbol.cpp
@@ -17,8 +17,6 @@
 
 #include <gtsam/inference/LabeledSymbol.h>
 
-#include <boost/format.hpp>
-#include <boost/lexical_cast.hpp>
 #include <iostream>
 
 namespace gtsam {
@@ -73,7 +71,9 @@ void LabeledSymbol::print(const std::string& s) const {
 
 /* ************************************************************************* */
 LabeledSymbol::operator std::string() const {
-  return str(boost::format("%c%c%d") % c_ % label_ % j_);
+  char buf[100];
+  sprintf(buf, "%c%c%zu", c_, label_, j_);
+  return std::string(buf);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp
index 7b7ff1403..2956c7575 100644
--- a/gtsam/inference/Ordering.cpp
+++ b/gtsam/inference/Ordering.cpp
@@ -19,8 +19,6 @@
 #include <vector>
 #include <limits>
 
-#include <boost/format.hpp>
-
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/3rdparty/CCOLAMD/Include/ccolamd.h>
 
@@ -107,9 +105,9 @@ Ordering Ordering::ColamdConstrained(const VariableIndex& variableIndex,
     gttic(ccolamd);
     int rv = ccolamd((int) nFactors, (int) nVars, (int) Alen, &A[0], &p[0],
         knobs, stats, &cmember[0]);
-    if (rv != 1)
-      throw runtime_error(
-          (boost::format("ccolamd failed with return value %1%") % rv).str());
+    if (rv != 1) {
+      throw runtime_error("ccolamd failed with return value " + to_string(rv));
+    }
   }
 
   //  ccolamd_report(stats);
diff --git a/gtsam/inference/Symbol.cpp b/gtsam/inference/Symbol.cpp
index 925ba9ce3..621587238 100644
--- a/gtsam/inference/Symbol.cpp
+++ b/gtsam/inference/Symbol.cpp
@@ -18,12 +18,10 @@
 
 #include <gtsam/inference/Symbol.h>
 
-#include <boost/bind/bind.hpp>
-#include <boost/format.hpp>
-
 #include <limits.h>
 #include <list>
 #include <iostream>
+#include <sstream>
 
 namespace gtsam {
 
@@ -40,8 +38,8 @@ Symbol::Symbol(Key key) :
 
 Key Symbol::key() const {
   if (j_ > indexMask) {
-    boost::format msg("Symbol index is too large, j=%d, indexMask=%d");
-    msg % j_ % indexMask;
+    std::stringstream msg;
+    msg << "Symbol index is too large, j=" << j_ << ", indexMask=" << indexMask;
     throw std::invalid_argument(msg.str());
   }
   Key key = (Key(c_) << indexBits) | j_;
@@ -57,7 +55,9 @@ bool Symbol::equals(const Symbol& expected, double tol) const {
 }
 
 Symbol::operator std::string() const {
-  return str(boost::format("%c%d") % c_ % j_);
+  char buf[10];
+  sprintf(buf, "%c%zu", c_, j_);
+  return std::string(buf);
 }
 
 static Symbol make(gtsam::Key key) { return Symbol(key);}
diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index e78caa2d9..188c31abe 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -21,13 +21,10 @@
 #include <gtsam/linear/linearExceptions.h>
 #include <gtsam/hybrid/HybridValues.h>
 
-#include <boost/format.hpp>
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-variable"
 #endif
-#include <boost/lambda/lambda.hpp>
-#include <boost/lambda/bind.hpp>
 #ifdef __GNUC__
 #pragma GCC diagnostic pop
 #endif
@@ -104,22 +101,20 @@ namespace gtsam {
   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
     cout << s << " p(";
     for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
-      cout << (boost::format("%1%") % (formatter(*it))).str()
-           << (nrFrontals() > 1 ? " " : "");
+      cout << formatter(*it) << (nrFrontals() > 1 ? " " : "");
     }
 
     if (nrParents()) {
       cout << " |";
       for (const_iterator it = beginParents(); it != endParents(); ++it) {
-        cout << " " << (boost::format("%1%") % (formatter(*it))).str();
+        cout << " " << formatter(*it);
       }
     }
     cout << ")" << endl;
 
     cout << formatMatrixIndented("  R = ", R()) << endl;
     for (const_iterator it = beginParents() ; it != endParents() ; ++it) {
-      cout << formatMatrixIndented((boost::format("  S[%1%] = ")%(formatter(*it))).str(), getA(it))
-        << endl;
+      cout << formatMatrixIndented("  S[" + formatter(*it) + "] = ", getA(it)) << endl;
     }
     cout << formatMatrixIndented("  d = ", getb(), true) << "\n";
     if (nrParents() == 0) {
diff --git a/gtsam/linear/GaussianDensity.cpp b/gtsam/linear/GaussianDensity.cpp
index 343396c0a..196be3402 100644
--- a/gtsam/linear/GaussianDensity.cpp
+++ b/gtsam/linear/GaussianDensity.cpp
@@ -17,7 +17,6 @@
  */
 
 #include <gtsam/linear/GaussianDensity.h>
-#include <boost/format.hpp>
 #include <string>
 
 using std::cout;
@@ -37,8 +36,9 @@ GaussianDensity GaussianDensity::FromMeanAndStddev(Key key, const Vector& mean,
 void GaussianDensity::print(const string& s,
                             const KeyFormatter& formatter) const {
   cout << s << ": density on ";
-  for (const_iterator it = beginFrontals(); it != endFrontals(); ++it)
-    cout << (boost::format("[%1%]") % (formatter(*it))).str() << " ";
+  for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
+    cout << "[" << formatter(*it) << "] ";
+  }
   cout << endl;
   gtsam::print(mean(), "mean: ");
   gtsam::print(covariance(), "covariance: ");
diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp
index 0302d8c6e..07fe98446 100644
--- a/gtsam/linear/HessianFactor.cpp
+++ b/gtsam/linear/HessianFactor.cpp
@@ -29,8 +29,6 @@
 #include <gtsam/base/ThreadsafeException.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/format.hpp>
-
 #include <sstream>
 #include <limits>
 #include "gtsam/base/Vector.h"
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 9f6b8da16..b9f99f164 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -31,8 +31,6 @@
 #include <gtsam/base/FastMap.h>
 #include <gtsam/base/cholesky.h>
 
-#include <boost/format.hpp>
-
 #include <cmath>
 #include <sstream>
 #include <stdexcept>
@@ -411,7 +409,7 @@ void JacobianFactor::print(const string& s,
   if (!s.empty())
     cout << s << "\n";
   for (const_iterator key = begin(); key != end(); ++key) {
-    cout << boost::format("  A[%1%] = ") % formatter(*key);
+    cout << "  A[" << formatter(*key) << "] = ";
     cout << getA(key).format(matlabFormat()) << endl;
   }
   cout << formatMatrixIndented("  b = ", getb(), true) << "\n";
diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 02e44e2a8..2751e89f2 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -19,8 +19,6 @@
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/format.hpp>
-
 #include <cmath>
 #include <iostream>
 #include <limits>
@@ -606,7 +604,7 @@ Isotropic::shared_ptr Isotropic::Variance(size_t dim, double variance, bool smar
 
 /* ************************************************************************* */
 void Isotropic::print(const string& name) const {
-  cout << boost::format("isotropic dim=%1% sigma=%2%") % dim() % sigma_ << endl;
+  cout << "isotropic dim=" << dim() << " sigma=" << sigma_ << endl;
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/linear/linearExceptions.cpp b/gtsam/linear/linearExceptions.cpp
index ada3a298c..7302380d9 100644
--- a/gtsam/linear/linearExceptions.cpp
+++ b/gtsam/linear/linearExceptions.cpp
@@ -18,7 +18,6 @@
 
 #include <gtsam/linear/linearExceptions.h>
 #include <gtsam/inference/Symbol.h>
-#include <boost/format.hpp>
 #include <boost/lexical_cast.hpp>
 
 namespace gtsam {
@@ -29,9 +28,8 @@ namespace gtsam {
     if(!description_) {
       description_ = String(
           "\nIndeterminant linear system detected while working near variable\n"
-          + boost::lexical_cast<String>(j_) +
-          + " (Symbol: " + boost::lexical_cast<String>(
-              gtsam::DefaultKeyFormatter(gtsam::Symbol(j_))) + ").\n"
+          + std::to_string(j_) +
+          + " (Symbol: " + gtsam::DefaultKeyFormatter(gtsam::Symbol(j_)) + ").\n"
           "\n\
 Thrown when a linear system is ill-posed.  The most common cause for this\n\
 error is having underconstrained variables.  Mathematically, the system is\n\
@@ -45,22 +43,21 @@ more information.");
   /* ************************************************************************* */
   const char* InvalidNoiseModel::what() const noexcept {
     if(description_.empty())
-      description_ = (boost::format(
-      "A JacobianFactor was attempted to be constructed or modified to use a\n"
-      "noise model of incompatible dimension.  The JacobianFactor has\n"
-      "dimensionality (i.e. length of error vector) %d but the provided noise\n"
-      "model has dimensionality %d.") % factorDims % noiseModelDims).str();
+      description_ = "A JacobianFactor was attempted to be constructed or modified to use a\n"
+                     "noise model of incompatible dimension.  The JacobianFactor has\n"
+                     "dimensionality (i.e. length of error vector) " + std::to_string(factorDims) +
+                     " but the provided noise model has dimensionality " + std::to_string(noiseModelDims) + ".";
     return description_.c_str();
   }
 
   /* ************************************************************************* */
   const char* InvalidMatrixBlock::what() const noexcept {
-    if(description_.empty())
-      description_ = (boost::format(
-      "A JacobianFactor was attempted to be constructed with a matrix block of\n"
-      "inconsistent dimension.  The JacobianFactor has %d rows (i.e. length of\n"
-      "error vector) but the provided matrix block has %d rows.")
-      % factorRows % blockRows).str();
+    if(description_.empty()) {
+      description_ = "A JacobianFactor was attempted to be constructed with a matrix block of\n"
+                     "inconsistent dimension.  The JacobianFactor has " + std::to_string(factorRows) +
+                     " rows (i.e. length of error vector) but the provided matrix block has " +
+                     std::to_string(blockRows) + " rows.";
+    }
     return description_.c_str();
   }
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 3c0624986..8041e80a2 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -28,11 +28,10 @@
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/format.hpp>
-
 #include <cmath>
 #include <fstream>
 #include <iostream>
+#include <iomanip>
 #include <limits>
 #include <string>
 
@@ -218,12 +217,12 @@ bool LevenbergMarquardtOptimizer::tryLambda(const GaussianFactorGraph& linear,
 #else
     double iterationTime = lamda_iteration_timer.elapsed();
 #endif
-    if (currentState->iterations == 0)
+    if (currentState->iterations == 0) {
       cout << "iter      cost      cost_change    lambda  success iter_time" << endl;
-
-    cout << boost::format("% 4d % 8e   % 3.2e   % 3.2e  % 4d   % 3.2e") % currentState->iterations %
-                newError % costChange % currentState->lambda % systemSolvedSuccessfully %
-                iterationTime << endl;
+    }
+    cout << setw(4) << currentState->iterations << " " << setw(8) << newError << " " << setw(3) << setprecision(2)
+         << costChange << " " << setw(3) << setprecision(2) << currentState->lambda << " " << setw(4)
+         << systemSolvedSuccessfully << " " << setw(3) << setprecision(2) << iterationTime << endl;
   }
 
   if (step_is_successful) {
diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp
index eac65d587..7312bf6d9 100644
--- a/gtsam/nonlinear/NonlinearFactor.cpp
+++ b/gtsam/nonlinear/NonlinearFactor.cpp
@@ -18,7 +18,6 @@
 
 #include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <boost/format.hpp>
 
 namespace gtsam {
 
@@ -96,12 +95,12 @@ NoiseModelFactor::shared_ptr NoiseModelFactor::cloneWithNewNoiseModel(
 
 /* ************************************************************************* */
 static void check(const SharedNoiseModel& noiseModel, size_t m) {
-  if (noiseModel && m != noiseModel->dim())
+  if (noiseModel && m != noiseModel->dim()) {
     throw std::invalid_argument(
-        boost::str(
-            boost::format(
-                "NoiseModelFactor: NoiseModel has dimension %1% instead of %2%.")
-                % noiseModel->dim() % m));
+        "NoiseModelFactor: NoiseModel has dimension " +
+        std::to_string(noiseModel->dim()) +
+        " instead of " + std::to_string(m) + ".");
+  }
 }
 
 /* ************************************************************************* */
diff --git a/gtsam_unstable/examples/TimeOfArrivalExample.cpp b/gtsam_unstable/examples/TimeOfArrivalExample.cpp
index 8d496a30e..a97aa27be 100644
--- a/gtsam_unstable/examples/TimeOfArrivalExample.cpp
+++ b/gtsam_unstable/examples/TimeOfArrivalExample.cpp
@@ -24,8 +24,6 @@
 #include <gtsam_unstable/geometry/Event.h>
 #include <gtsam_unstable/slam/TOAFactor.h>
 
-#include <boost/format.hpp>
-
 #include <vector>
 
 using namespace std;
diff --git a/gtsam_unstable/slam/tests/testTOAFactor.cpp b/gtsam_unstable/slam/tests/testTOAFactor.cpp
index bc5c553e0..b6628c138 100644
--- a/gtsam_unstable/slam/tests/testTOAFactor.cpp
+++ b/gtsam_unstable/slam/tests/testTOAFactor.cpp
@@ -25,7 +25,6 @@
 #include <gtsam_unstable/slam/TOAFactor.h>
 
 #include <CppUnitLite/TestHarness.h>
-#include <boost/format.hpp>
 
 using namespace std;
 using namespace gtsam;