diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index de79ac12b..907c78e0c 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -687,7 +687,7 @@ namespace gtsam {
       /// Return the contained noise model
       const NoiseModel::shared_ptr& noise() const { return noise_; }
 
-      // TODO: functions below are dummy but necessary for the noiseModel::Base
+      // Functions below are dummy but necessary for the noiseModel::Base
       inline Vector whiten(const Vector& v) const override
       { Vector r = v; this->WhitenSystem(r); return r; }
       inline Matrix Whiten(const Matrix& A) const override
@@ -699,7 +699,7 @@ namespace gtsam {
         return robust_->loss(std::sqrt(squared_distance));
       }
 
-      // TODO: these are really robust iterated re-weighting support functions
+      // These are really robust iterated re-weighting support functions
       virtual void WhitenSystem(Vector& b) const;
       void WhitenSystem(std::vector<Matrix>& A, Vector& b) const override;
       void WhitenSystem(Matrix& A, Vector& b) const override;
@@ -710,7 +710,6 @@ namespace gtsam {
         return noise_->unweightedWhiten(v);
       }
       double weight(const Vector& v) const override {
-        // Todo(mikebosse): make the robust weight function input a vector.
         return robust_->weight(v.norm());
       }