diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp
similarity index 98%
rename from gtsam/hybrid/GaussianMixture.cpp
rename to gtsam/hybrid/HybridGaussianConditional.cpp
index 451493ae0..4ad85b827 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/HybridGaussianConditional.cpp
@@ -72,7 +72,7 @@ HybridGaussianConditional::HybridGaussianConditional(
 
 /* *******************************************************************************/
 // TODO(dellaert): This is copy/paste: HybridGaussianConditional should be derived from
-// GaussianMixtureFactor, no?
+// HybridGaussianFactor, no?
 GaussianFactorGraphTree HybridGaussianConditional::add(
     const GaussianFactorGraphTree &sum) const {
   using Y = GaussianFactorGraph;
@@ -203,7 +203,7 @@ bool HybridGaussianConditional::allFrontalsGiven(const VectorValues &given) cons
 }
 
 /* ************************************************************************* */
-std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood(
+std::shared_ptr<HybridGaussianFactor> HybridGaussianConditional::likelihood(
     const VectorValues &given) const {
   if (!allFrontalsGiven(given)) {
     throw std::runtime_error(
@@ -212,7 +212,7 @@ std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood(
 
   const DiscreteKeys discreteParentKeys = discreteKeys();
   const KeyVector continuousParentKeys = continuousParents();
-  const GaussianMixtureFactor::Factors likelihoods(
+  const HybridGaussianFactor::Factors likelihoods(
       conditionals_, [&](const GaussianConditional::shared_ptr &conditional) {
         const auto likelihood_m = conditional->likelihood(given);
         const double Cgm_Kgcm =
@@ -231,7 +231,7 @@ std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood(
           return std::make_shared<JacobianFactor>(gfg);
         }
       });
-  return std::make_shared<GaussianMixtureFactor>(
+  return std::make_shared<HybridGaussianFactor>(
       continuousParentKeys, discreteParentKeys, likelihoods);
 }
 
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/HybridGaussianConditional.h
similarity index 100%
rename from gtsam/hybrid/GaussianMixture.h
rename to gtsam/hybrid/HybridGaussianConditional.h
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
similarity index 100%
rename from gtsam/hybrid/GaussianMixtureFactor.cpp
rename to gtsam/hybrid/HybridGaussianFactor.cpp
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
similarity index 100%
rename from gtsam/hybrid/GaussianMixtureFactor.h
rename to gtsam/hybrid/HybridGaussianFactor.h
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
similarity index 100%
rename from gtsam/hybrid/MixtureFactor.h
rename to gtsam/hybrid/HybridNonlinearFactor.h
diff --git a/gtsam/hybrid/tests/testGaussianMixture.cpp b/gtsam/hybrid/tests/testHybridGaussianConditional.cpp
similarity index 100%
rename from gtsam/hybrid/tests/testGaussianMixture.cpp
rename to gtsam/hybrid/tests/testHybridGaussianConditional.cpp
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp
similarity index 99%
rename from gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
rename to gtsam/hybrid/tests/testHybridGaussianFactor.cpp
index b90950605..f9d276760 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    testGaussianMixtureFactor.cpp
+ * @file    testHybridGaussianFactor.cpp
  * @brief   Unit tests for HybridGaussianFactor
  * @author  Varun Agrawal
  * @author  Fan Jiang
diff --git a/gtsam/hybrid/tests/testMixtureFactor.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
similarity index 98%
rename from gtsam/hybrid/tests/testMixtureFactor.cpp
rename to gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
index dead8cd34..325478e94 100644
--- a/gtsam/hybrid/tests/testMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    testMixtureFactor.cpp
+ * @file    testHybridNonlinearFactor.cpp
  * @brief   Unit tests for HybridNonlinearFactor
  * @author  Varun Agrawal
  * @date    October 2022