diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index cfa5fa90c..307d1486c 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -536,5 +536,11 @@ namespace gtsam {
     return DecisionTreeFactor(this->discreteKeys(), thresholded);
   }
 
+/* ************************************************************************ */
+DiscreteFactor::shared_ptr DecisionTreeFactor::restrict(
+    const DiscreteValues& assignment) const {
+  throw std::runtime_error("DecisionTreeFactor::restrict not implemented");
+}
+
   /* ************************************************************************ */
 }  // namespace gtsam
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 716c43b63..63f0384aa 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -220,6 +220,10 @@ namespace gtsam {
       return combine(keys, Ring::max);
     }
 
+    /// Restrict the factor to the given assignment.
+    DiscreteFactor::shared_ptr restrict(
+        const DiscreteValues& assignment) const override;
+        
     /// @}
     /// @name Advanced Interface
     /// @{
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 6fa074379..a30383942 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -167,8 +167,8 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
   /**
    * @brief Scale the factor values by the maximum
    * to prevent underflow/overflow.
-   * 
-   * @return DiscreteFactor::shared_ptr 
+   *
+   * @return DiscreteFactor::shared_ptr
    */
   DiscreteFactor::shared_ptr scale() const;
 
@@ -178,6 +178,10 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
    */
   virtual uint64_t nrValues() const = 0;
 
+  /// Restrict the factor to the given assignment.
+  virtual DiscreteFactor::shared_ptr restrict(
+      const DiscreteValues& assignment) const = 0;
+
   /// @}
   /// @name Wrapper support
   /// @{
diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 25acae06e..b5d3193e4 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -391,12 +391,12 @@ void TableFactor::print(const string& s, const KeyFormatter& formatter) const {
 
 /* ************************************************************************ */
 DiscreteFactor::shared_ptr TableFactor::sum(size_t nrFrontals) const {
-return combine(nrFrontals, Ring::add);
+  return combine(nrFrontals, Ring::add);
 }
 
 /* ************************************************************************ */
 DiscreteFactor::shared_ptr TableFactor::sum(const Ordering& keys) const {
-return combine(keys, Ring::add);
+  return combine(keys, Ring::add);
 }
 
 /* ************************************************************************ */
@@ -418,7 +418,6 @@ DiscreteFactor::shared_ptr TableFactor::max(const Ordering& keys) const {
   return combine(keys, Ring::max);
 }
 
-
 /* ************************************************************************ */
 TableFactor TableFactor::apply(Unary op) const {
   // Initialize new factor.
@@ -781,5 +780,11 @@ TableFactor TableFactor::prune(size_t maxNrAssignments) const {
   return TableFactor(this->discreteKeys(), pruned_vec);
 }
 
+/* ************************************************************************ */
+DiscreteFactor::shared_ptr TableFactor::restrict(
+    const DiscreteValues& assignment) const {
+  throw std::runtime_error("TableFactor::restrict not implemented");
+}
+
 /* ************************************************************************ */
 }  // namespace gtsam
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index ce58d14bc..72c2861a2 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -342,6 +342,10 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
    */
   uint64_t nrValues() const override { return sparse_table_.nonZeros(); }
 
+  /// Restrict the factor to the given assignment.
+  DiscreteFactor::shared_ptr restrict(
+      const DiscreteValues& assignment) const override;
+
   /// @}
   /// @name Wrapper support
   /// @{
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index dbf94ea59..fb8b215cf 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -69,11 +69,13 @@ HybridBayesNet HybridBayesNet::prune(
 
   // Go through all the Gaussian conditionals, restrict them according to
   // fixed values, and then prune further.
-  for (std::shared_ptr<gtsam::HybridConditional> conditional : *this) {
+  for (std::shared_ptr<HybridConditional> conditional : *this) {
     if (conditional->isDiscrete()) continue;
 
     // No-op if not a HybridGaussianConditional.
-    if (marginalThreshold) conditional = conditional->restrict(fixed);
+    if (marginalThreshold)
+      conditional = std::static_pointer_cast<HybridConditional>(
+          conditional->restrict(fixed));
 
     // Now decide on type what to do:
     if (auto hgc = conditional->asHybrid()) {
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 257eca314..7fffb06d3 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -170,8 +170,8 @@ double HybridConditional::evaluate(const HybridValues &values) const {
 }
 
 /* ************************************************************************ */
-HybridConditional::shared_ptr HybridConditional::restrict(
-    const DiscreteValues &discreteValues) const {
+std::shared_ptr<Factor> HybridConditional::restrict(
+    const DiscreteValues &assignment) const {
   if (auto gc = asGaussian()) {
     return std::make_shared<HybridConditional>(gc);
   } else if (auto dc = asDiscrete()) {
@@ -184,21 +184,20 @@ HybridConditional::shared_ptr HybridConditional::restrict(
         "HybridConditional::restrict: conditional type not handled");
 
   // Case 1: Fully determined, return corresponding Gaussian conditional
-  auto parentValues = discreteValues.filter(discreteKeys_);
+  auto parentValues = assignment.filter(discreteKeys_);
   if (parentValues.size() == discreteKeys_.size()) {
     return std::make_shared<HybridConditional>(hgc->choose(parentValues));
   }
 
   // Case 2: Some live parents remain, build a new tree
-  auto unspecifiedParentKeys = discreteValues.missingKeys(discreteKeys_);
-  if (!unspecifiedParentKeys.empty()) {
+  auto remainingKeys = assignment.missingKeys(discreteKeys_);
+  if (!remainingKeys.empty()) {
     auto newTree = hgc->factors();
     for (const auto &[key, value] : parentValues) {
       newTree = newTree.choose(key, value);
     }
     return std::make_shared<HybridConditional>(
-        std::make_shared<HybridGaussianConditional>(unspecifiedParentKeys,
-                                                    newTree));
+        std::make_shared<HybridGaussianConditional>(remainingKeys, newTree));
   }
 
   // Case 3: No changes needed, return original
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 075fbe411..45b00969b 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -153,7 +153,8 @@ class GTSAM_EXPORT HybridConditional
    * @return HybridGaussianConditional::shared_ptr otherwise
    */
   HybridGaussianConditional::shared_ptr asHybrid() const {
-    return std::dynamic_pointer_cast<HybridGaussianConditional>(inner_);
+    if (!isHybrid()) return nullptr;
+    return std::static_pointer_cast<HybridGaussianConditional>(inner_);
   }
 
   /**
@@ -162,7 +163,8 @@ class GTSAM_EXPORT HybridConditional
    * @return GaussianConditional::shared_ptr otherwise
    */
   GaussianConditional::shared_ptr asGaussian() const {
-    return std::dynamic_pointer_cast<GaussianConditional>(inner_);
+    if (!isContinuous()) return nullptr;
+    return std::static_pointer_cast<GaussianConditional>(inner_);
   }
 
   /**
@@ -172,7 +174,8 @@ class GTSAM_EXPORT HybridConditional
    */
   template <typename T = DiscreteConditional>
   typename T::shared_ptr asDiscrete() const {
-    return std::dynamic_pointer_cast<T>(inner_);
+    if (!isDiscrete()) return nullptr;
+    return std::static_pointer_cast<T>(inner_);
   }
 
   /// Get the type-erased pointer to the inner type
@@ -221,7 +224,8 @@ class GTSAM_EXPORT HybridConditional
    * which is just a GaussianConditional. If this conditional is *not* a hybrid
    * conditional, just return that.
    */
-  shared_ptr restrict(const DiscreteValues& discreteValues) const;
+  std::shared_ptr<Factor> restrict(
+      const DiscreteValues& assignment) const override;
 
   /// @}
 
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 9fc280322..4147420bd 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -133,10 +133,14 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// Return only the continuous keys for this factor.
   const KeyVector &continuousKeys() const { return continuousKeys_; }
 
-  /// Virtual class to compute tree of linear errors.
+  /// Compute tree of linear errors.
   virtual AlgebraicDecisionTree<Key> errorTree(
       const VectorValues &values) const = 0;
 
+  /// Restrict the factor to the given discrete values.
+  virtual std::shared_ptr<Factor> restrict(
+      const DiscreteValues &discreteValues) const = 0;
+
   /// @}
 
  private:
diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp
index 0546ff16b..cb569efac 100644
--- a/gtsam/hybrid/HybridGaussianConditional.cpp
+++ b/gtsam/hybrid/HybridGaussianConditional.cpp
@@ -363,4 +363,12 @@ double HybridGaussianConditional::evaluate(const HybridValues &values) const {
   return conditional->evaluate(values.continuous());
 }
 
+/* ************************************************************************ */
+std::shared_ptr<Factor> HybridGaussianConditional::restrict(
+    const DiscreteValues &assignment) const {
+  throw std::runtime_error(
+      "HybridGaussianConditional::restrict not implemented");
+}
+
+/* ************************************************************************ */
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianConditional.h b/gtsam/hybrid/HybridGaussianConditional.h
index 3b95e0277..6fc60a482 100644
--- a/gtsam/hybrid/HybridGaussianConditional.h
+++ b/gtsam/hybrid/HybridGaussianConditional.h
@@ -241,6 +241,10 @@ class GTSAM_EXPORT HybridGaussianConditional
   /// Return true if the conditional has already been pruned.
   bool pruned() const { return pruned_; }
 
+  /// Restrict to the given discrete values.
+  std::shared_ptr<Factor> restrict(
+      const DiscreteValues &discreteValues) const override;
+
   /// @}
 
  private:
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index fd9bd2fd4..616e015f6 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -199,4 +199,12 @@ double HybridGaussianFactor::error(const HybridValues& values) const {
   return PotentiallyPrunedComponentError(pair, values.continuous());
 }
 
+/* ************************************************************************ */
+std::shared_ptr<Factor> HybridGaussianFactor::restrict(
+    const DiscreteValues& assignment) const {
+  throw std::runtime_error("HybridGaussianFactor::restrict not implemented");
+}
+
+/* ************************************************************************ */
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index efbba9e51..0bf38effa 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -157,6 +157,10 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
    */
   virtual HybridGaussianProductFactor asProductFactor() const;
 
+  /// Restrict the factor to the given discrete values.
+  std::shared_ptr<Factor> restrict(
+      const DiscreteValues &discreteValues) const override;
+
   /// @}
 
  private:
diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index fa22051e5..900102e5d 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -239,4 +239,21 @@ HybridNonlinearFactor::shared_ptr HybridNonlinearFactor::prune(
   return std::make_shared<HybridNonlinearFactor>(discreteKeys(), prunedFactors);
 }
 
+/* ************************************************************************ */
+std::shared_ptr<Factor> HybridNonlinearFactor::restrict(
+    const DiscreteValues& assignment) const {
+  auto restrictedFactors = factors_.restrict(assignment);
+  auto filtered = assignment.filter(discreteKeys_);
+  if (filtered.size() == discreteKeys_.size()) {
+    auto [nonlinearFactor, val] = factors_(filtered);
+    return nonlinearFactor;
+  } else {
+    auto remainingKeys = assignment.missingKeys(discreteKeys());
+    return std::make_shared<HybridNonlinearFactor>(remainingKeys,
+                                                   factors_.restrict(filtered));
+  }
+}
+
+/* ************************************************************************ */
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index e264b1d10..9fe08a364 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -80,6 +80,9 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
   }
 
  public:
+  /// @name Constructors
+  /// @{
+
   /// Default constructor, mainly for serialization.
   HybridNonlinearFactor() = default;
 
@@ -137,7 +140,7 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
    * @return double The error of this factor.
    */
   double error(const Values& continuousValues,
-               const DiscreteValues& discreteValues) const;
+               const DiscreteValues& assignment) const;
 
   /**
    * @brief Compute error of factor given hybrid values.
@@ -154,7 +157,8 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
    */
   size_t dim() const;
 
-  /// Testable
+  /// @}
+  /// @name Testable
   /// @{
 
   /// print to stdout
@@ -165,15 +169,16 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
   bool equals(const HybridFactor& other, double tol = 1e-9) const override;
 
   /// @}
+  /// @name Standard API
+  /// @{
 
   /// Getter for NonlinearFactor decision tree
   const FactorValuePairs& factors() const { return factors_; }
 
   /// Linearize specific nonlinear factors based on the assignment in
   /// discreteValues.
-  GaussianFactor::shared_ptr linearize(
-      const Values& continuousValues,
-      const DiscreteValues& discreteValues) const;
+  GaussianFactor::shared_ptr linearize(const Values& continuousValues,
+                                       const DiscreteValues& assignment) const;
 
   /// Linearize all the continuous factors to get a HybridGaussianFactor.
   std::shared_ptr<HybridGaussianFactor> linearize(
@@ -183,6 +188,12 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
   HybridNonlinearFactor::shared_ptr prune(
       const DecisionTreeFactor& discreteProbs) const;
 
+  /// Restrict the factor to the given discrete values.
+  std::shared_ptr<Factor> restrict(
+      const DiscreteValues& assignment) const override;
+
+  /// @}
+
  private:
   /// Helper struct to assist private constructor below.
   struct ConstructorHelper;
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index 2f5031cf2..b42676aac 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -221,5 +221,30 @@ AlgebraicDecisionTree<Key> HybridNonlinearFactorGraph::discretePosterior(
   return p / p.sum();
 }
 
+/* ************************************************************************ */
+HybridNonlinearFactorGraph HybridNonlinearFactorGraph::restrict(
+    const DiscreteValues& discreteValues) const {
+  using std::dynamic_pointer_cast;
+
+  HybridNonlinearFactorGraph result;
+  result.reserve(size());
+  for (auto& f : factors_) {
+    // First check if it is a valid factor
+    if (!f) {
+      continue;
+    }
+    // Check if it is a hybrid factor
+    if (auto hf = dynamic_pointer_cast<HybridFactor>(f)) {
+      result.push_back(hf->restrict(discreteValues));
+    } else if (auto df = dynamic_pointer_cast<DiscreteFactor>(f)) {
+      result.push_back(df->restrict(discreteValues));
+    } else {
+      result.push_back(f);  // Everything else is just added as is
+    }
+  }
+  
+  return result;
+}
+
 /* ************************************************************************ */
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index f79f7b452..9f91a74b9 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -116,6 +116,10 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
   AlgebraicDecisionTree<Key> discretePosterior(
       const Values& continuousValues) const;
 
+  /// Restrict all factors in the graph to the given discrete values.
+  HybridNonlinearFactorGraph restrict(
+      const DiscreteValues& assignment) const;
+
   /// @}
 };
 
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
index 2b441ab13..e7ef9d7d9 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
@@ -131,6 +131,18 @@ TEST(HybridNonlinearFactor, Dim) {
   EXPECT_LONGS_EQUAL(1, hybridFactor.dim());
 }
 
+/* ************************************************************************* */
+// Test restrict method
+TEST(HybridNonlinearFactor, Restrict) {
+  using namespace test_constructor;
+  HybridNonlinearFactor factor(m1, {f0, f1});
+  DiscreteValues assignment = {{m1.first, 0}};
+  auto restricted = factor.restrict(assignment);
+  auto betweenFactor = dynamic_pointer_cast<BetweenFactor<double>>(restricted);
+  CHECK(betweenFactor);
+  EXPECT(assert_equal(*f0, *betweenFactor));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;