diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 4266ace15..434a6beac 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -29,6 +29,7 @@
 #include <optional>
 #include <set>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -482,8 +483,8 @@ namespace gtsam {
   /****************************************************************************/
   // DecisionTree
   /****************************************************************************/
-  template<typename L, typename Y>
-  DecisionTree<L, Y>::DecisionTree() {}
+  template <typename L, typename Y>
+  DecisionTree<L, Y>::DecisionTree() : root_(nullptr) {}
 
   template<typename L, typename Y>
   DecisionTree<L, Y>::DecisionTree(const NodePtr& root) :
@@ -951,11 +952,16 @@ namespace gtsam {
     return root_->equals(*other.root_);
   }
 
+  /****************************************************************************/
   template<typename L, typename Y>
   const Y& DecisionTree<L, Y>::operator()(const Assignment<L>& x) const {
+    if (root_ == nullptr)
+      throw std::invalid_argument(
+          "DecisionTree::operator() called on empty tree");
     return root_->operator ()(x);
   }
 
+  /****************************************************************************/
   template<typename L, typename Y>
   DecisionTree<L, Y> DecisionTree<L, Y>::apply(const Unary& op) const {
     // It is unclear what should happen if tree is empty:
@@ -966,6 +972,7 @@ namespace gtsam {
     return DecisionTree(root_->apply(op));
   }
 
+  /****************************************************************************/
   /// Apply unary operator with assignment
   template <typename L, typename Y>
   DecisionTree<L, Y> DecisionTree<L, Y>::apply(
@@ -1049,6 +1056,18 @@ namespace gtsam {
     return ss.str();
   }
 
-/******************************************************************************/
+  /******************************************************************************/
+  template <typename L, typename Y>
+  template <typename A, typename B>
+  std::pair<DecisionTree<L, A>, DecisionTree<L, B>> DecisionTree<L, Y>::split(
+      std::function<std::pair<A, B>(const Y&)> AB_of_Y) {
+    using AB = std::pair<A, B>;
+    const DecisionTree<L, AB> ab(*this, AB_of_Y);
+    const DecisionTree<L, A> a(ab, [](const AB& p) { return p.first; });
+    const DecisionTree<L, B> b(ab, [](const AB& p) { return p.second; });
+    return {a, b};
+  }
+
+  /******************************************************************************/
 
   }  // namespace gtsam
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index 6d8d86530..6a966e0dd 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -156,10 +156,10 @@ namespace gtsam {
     template <typename It, typename ValueIt>
     static NodePtr build(It begin, It end, ValueIt beginY, ValueIt endY);
 
-    /** Internal helper function to create from
-     * keys, cardinalities, and Y values.
-     * Calls `build` which builds thetree bottom-up,
-     * before we prune in a top-down fashion.
+    /**
+     * Internal helper function to create a tree from keys, cardinalities, and Y
+     * values. Calls `build` which builds the tree bottom-up, before we prune in
+     * a top-down fashion.
      */
     template <typename It, typename ValueIt>
     static NodePtr create(It begin, It end, ValueIt beginY, ValueIt endY);
@@ -239,7 +239,7 @@ namespace gtsam {
     DecisionTree(const DecisionTree<L, X>& other, Func Y_of_X);
 
     /**
-     * @brief Convert from a different value type X to value type Y, also transate
+     * @brief Convert from a different value type X to value type Y, also translate
      * labels via map from type M to L.
      *
      * @tparam M Previous label type.
@@ -406,6 +406,18 @@ namespace gtsam {
                     const ValueFormatter& valueFormatter,
                     bool showZero = true) const;
 
+    /**
+     * @brief Convert into two trees with value types A and B.
+     *
+     * @tparam A First new value type.
+     * @tparam B Second new value type.
+     * @param AB_of_Y Functor to convert from type X to std::pair<A, B>.
+     * @return A pair of DecisionTrees with value types A and B respectively.
+     */
+    template <typename A, typename B>
+    std::pair<DecisionTree<L, A>, DecisionTree<L, B>> split(
+        std::function<std::pair<A, B>(const Y&)> AB_of_Y);
+
     /// @name Advanced Interface
     /// @{
 
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index c625e1ba6..1382fc704 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -11,7 +11,7 @@
 
 /*
  * @file    testDecisionTree.cpp
- * @brief    Develop DecisionTree
+ * @brief   DecisionTree unit tests
  * @author  Frank Dellaert
  * @author  Can Erdogan
  * @date    Jan 30, 2012
@@ -271,6 +271,37 @@ TEST(DecisionTree, Example) {
   DOT(acnotb);
 }
 
+/* ************************************************************************** */
+// Test that we can create two trees out of one, using a function that returns a pair.
+TEST(DecisionTree, Split) {
+  // Create labels
+  string A("A"), B("B");
+
+  // Create a decision tree
+  DT original(A, DT(B, 1, 2), DT(B, 3, 4));
+
+  // Define a function that returns an int/bool pair
+  auto split_function = [](const int& value) -> std::pair<int, bool> {
+    return {value*3, value*3 % 2 == 0};
+  };
+
+  // Split the original tree into two new trees
+  auto [la,lb] = original.split<int,bool>(split_function);
+
+  // Check the first resulting tree
+  EXPECT_LONGS_EQUAL(3, la(Assignment<string>{{A, 0}, {B, 0}}));
+  EXPECT_LONGS_EQUAL(6, la(Assignment<string>{{A, 0}, {B, 1}}));
+  EXPECT_LONGS_EQUAL(9, la(Assignment<string>{{A, 1}, {B, 0}}));
+  EXPECT_LONGS_EQUAL(12, la(Assignment<string>{{A, 1}, {B, 1}}));
+
+  // Check the second resulting tree
+  EXPECT(!lb(Assignment<string>{{A, 0}, {B, 0}}));
+  EXPECT(lb(Assignment<string>{{A, 0}, {B, 1}}));
+  EXPECT(!lb(Assignment<string>{{A, 1}, {B, 0}}));
+  EXPECT(lb(Assignment<string>{{A, 1}, {B, 1}}));
+}
+
+
 /* ************************************************************************** */
 // test Conversion of values
 bool bool_of_int(const int& y) { return y != 0; };