diff --git a/python/gtsam/examples/CombinedImuFactorExample.py b/python/gtsam/examples/CombinedImuFactorExample.py
index 82714dd7c..e3f8c6b34 100644
--- a/python/gtsam/examples/CombinedImuFactorExample.py
+++ b/python/gtsam/examples/CombinedImuFactorExample.py
@@ -5,7 +5,7 @@ All Rights Reserved
 
 See LICENSE for the license information
 
-A script validating and demonstrating the CobiendImuFactor inference.
+A script validating and demonstrating inference with the CombinedImuFactor.
 
 Author: Varun Agrawal
 """
@@ -17,15 +17,15 @@ from __future__ import print_function
 import argparse
 import math
 
-import gtsam
 import matplotlib.pyplot as plt
 import numpy as np
 from gtsam.symbol_shorthand import B, V, X
 from gtsam.utils.plot import plot_pose3
 from mpl_toolkits.mplot3d import Axes3D
-
 from PreintegrationExample import POSES_FIG, PreintegrationExample
 
+import gtsam
+
 GRAVITY = 9.81
 
 np.set_printoptions(precision=3, suppress=True)
@@ -192,7 +192,9 @@ class CombinedImuFactorExample(PreintegrationExample):
 
                 if verbose:
                     print(factor)
-                    print(pim.predict(initial_state_i, self.actualBias))
+                    print("Predicted state at {0}:\n{1}".format(
+                        t + self.dt,
+                        pim.predict(initial_state_i, self.actualBias)))
 
                 pim.resetIntegration()
 
@@ -204,6 +206,9 @@ class CombinedImuFactorExample(PreintegrationExample):
                 print("Actual state at {0}:\n{1}".format(
                     t + self.dt, actual_state_i))
 
+                # Set initial state to current
+                initial_state_i = actual_state_i
+
                 noisy_state_i = gtsam.NavState(
                     actual_state_i.pose().compose(poseNoise),
                     actual_state_i.velocity() + np.random.randn(3) * 0.1)
diff --git a/python/gtsam/examples/ImuFactorExample.py b/python/gtsam/examples/ImuFactorExample.py
index c86a4e216..a0c833274 100644
--- a/python/gtsam/examples/ImuFactorExample.py
+++ b/python/gtsam/examples/ImuFactorExample.py
@@ -17,15 +17,15 @@ from __future__ import print_function
 import argparse
 import math
 
-import gtsam
 import matplotlib.pyplot as plt
 import numpy as np
 from gtsam.symbol_shorthand import B, V, X
 from gtsam.utils.plot import plot_pose3
 from mpl_toolkits.mplot3d import Axes3D
-
 from PreintegrationExample import POSES_FIG, PreintegrationExample
 
+import gtsam
+
 BIAS_KEY = B(0)
 GRAVITY = 9.81
 
@@ -185,7 +185,9 @@ class ImuFactorExample(PreintegrationExample):
 
                 if verbose:
                     print(factor)
-                    print(pim.predict(initial_state_i, self.actualBias))
+                    print("Predicted state at {0}:\n{1}".format(
+                        t + self.dt,
+                        pim.predict(initial_state_i, self.actualBias)))
 
                 pim.resetIntegration()
 
@@ -197,6 +199,9 @@ class ImuFactorExample(PreintegrationExample):
                 print("Actual state at {0}:\n{1}".format(
                     t + self.dt, actual_state_i))
 
+                # Set initial state to current
+                initial_state_i = actual_state_i
+
                 noisy_state_i = gtsam.NavState(
                     actual_state_i.pose().compose(poseNoise),
                     actual_state_i.velocity() + np.random.randn(3) * 0.1)