diff --git a/README b/README
index 882266b4c..63357391a 100644
--- a/README
+++ b/README
@@ -6,39 +6,39 @@ What is GTSAM ?
   GTSAM is a library of C++ classes that implement smoothing and
   mapping (SAM) in robotics and vision, using factor graphs and Bayes
   networks as the underlying computing paradigm rather than sparse
-  matrices. A set of MATLAB mex wrappers is included.
+  matrices. A set of MATLAB mex wrappers is also included.
 
 GTSAM is not (yet) open source: See COPYING & LICENSE
+Please see USAGE for an example on how to use GTSAM.
 
 The code is organized according to the following directory structure:
 
-  base				provides some base Math and data structures, as well as test-related utilities
-  geometry		points, poses, tensors, etc
-  inference		core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees 
-  linear			inference specialized to Gaussian linear case, GaussianFactorGraph etc...
-  nonlinear		non-linear factor graphs and non-linear optimization
-  slam				SLAM and visual SLAM application code
+  base        provides some base Math and data structures, as well as test-related utilities
+  geometry    points, poses, tensors, etc
+  inference   core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees 
+  linear      inference specialized to Gaussian linear case, GaussianFactorGraph etc...
+  nonlinear   non-linear factor graphs and non-linear optimization
+  slam        SLAM and visual SLAM application code
   
 All of the above contain code and tests, and build local shared libraries that are then
 bundled in a top-level shared library libgtsam.la. After this is built, you can also run
-the more involved tests that test the entire library:  
+the more involved tests, which test the entire library:  
   
-  tests				more involved tests that depend on slam
+  tests       more involved tests that depend on slam
 
 Furthermore the MATLAB wrapper generator code is run as well
 
-  wrap				MATLAB wrapper generation code
-  gtsam.h			interface file for which wrappers will be generated
-  toolbox			MATLAB proxy classes and wrappers generated
-  matlab			examples and tests of the above  		
+  wrap        MATLAB wrapper generation code
+  gtsam.h     interface file for which wrappers will be generated
+  toolbox     MATLAB proxy classes and wrappers generated
+  matlab      examples and tests of the above  		
 
 Finally, there are some local libraries built needed in the rest of the code:
 
-  colamd			COLAMD and CCOLAMD by Tim Davis needed for re-ordering
-  CppUnitLite	unit test library
-  doc					documentation
-  m4					local M4 macros
-
+  colamd      COLAMD and CCOLAMD by Tim Davis needed for re-ordering
+  CppUnitLite unit test library
+  doc         documentation
+  m4          local M4 macros
 
 Important Installation Notes Specific to GTSAM
 ----------------------------------------------