diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index a45c5b92c..4a53a3141 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -114,7 +114,7 @@ TEST(HybridEstimation, Full) {
 
 /****************************************************************************/
 // Test approximate inference with an additional pruning step.
-TEST_DISABLED(HybridEstimation, Incremental) {
+TEST(HybridEstimation, Incremental) {
   size_t K = 15;
   std::vector<double> measurements = {0, 1, 2, 2, 2, 2,  3,  4,  5,  6, 6,
                                       7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
@@ -151,9 +151,6 @@ TEST_DISABLED(HybridEstimation, Incremental) {
     graph.resize(0);
   }
 
-  /*TODO(Varun) Gives degenerate result due to probability underflow.
-  Need to normalize probabilities.
-  */
   HybridValues delta = smoother.hybridBayesNet().optimize();
 
   Values result = initial.retract(delta.continuous());