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First provide a summary of the paper, and then address the following criteria: Quality, clarity, originality and significance. The paper presents a VB method for learning nonlinear state-space models using sparse GPs to model the nonlinear state transition and observation mappings. The proposed method looks very good and efficient, but the empirical evaluation is relatively weak. Quality: The paper appears technically sound, save one minor problem listed below. The method is based on existing solid principles with VB-based sparse GPs, stochastic variational inference and sequential Monte Carlo.